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.

• 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; 
  

• 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; 

* 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;

• 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;