We assume that you're successful to build the sample controller following the instructions. 

When you run the TORCS and the client executable files, you will see the following scenes. 

{{youtube>Ilf5qf2GZck?small}}


  * Tutorial 2 
    * Open "SimpleDriver.cpp"
    * Please add the following codes before "CarControl cc(accel,brake,gear,steer,clutch);" in wDrive function. 

  accel=1.0; brake=0.0; 
    
{{youtube>04xUTy3pEqE?small}}

  * Tutorial 3 
    * delete the new codes added in the tutorial 2
    * Please add the following codes before "CarControl cc(accel,brake,gear,steer,clutch);" in wDrive function. 

  double target_speed=100; 
  double actual_speed=cs.getSpeedX(); 
  accel=0; 
  if(target_speed-actual_speed>0) accel=(target_speed-actual_speed)/20; 
  if(target_speed-actual_speed>20) accel=1; 
  brake=0; 
  
{{youtube>i9e1QGD2bI8?small}}

 * Tutorial 4 
    * delete the new codes added in the tutorial 3
    * Please add the following codes before "CarControl cc(accel,brake,gear,steer,clutch);" in wDrive function. 

  steer=0; 
  accel=1; 
  brake=0;
  
{{youtube>PI4RJdEyCv0?small}}

  * Tutorial 5 
    * delete the new codes added in the tutorial 4
    * Please add the following codes before "CarControl cc(accel,brake,gear,steer,clutch);" in wDrive function. 

  double target_pos=0; 
  double actual_pos=cs.getTrackPos(); 
  double angle=cs.getAngle(); 
  double error = target_pos - actual_pos; 
  angle = angle + error; 
  steer = angle/steerLock; 
  
{{youtube>HJzoZsL5ME8?small}}