added tutorial driver

src/drivers/pid_driver/Makefile

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+##############################################################################
+#
+#    file                 : Makefile
+#    created              : Sat Nov 4 20:28:35 CET 2017
+#    copyright            : (C) 2002 Jonas Natzer
+#
+##############################################################################
+#
+#   This program is free software; you can redistribute it and/or modify
+#   it under the terms of the GNU General Public License as published by
+#   the Free Software Foundation; either version 2 of the License, or
+#   (at your option) any later version.
+#
+##############################################################################
+
+# I need those environment variables
+# export TORCS_BASE=~/torcs-1.3.7
+# export MAKE_DEFAULT=${TORCS_BASE}/Make-default.mk
+
+ROBOT       = pid_driver
+MODULE      = ${ROBOT}.so
+MODULEDIR   = drivers/${ROBOT}
+SOURCES     = ${ROBOT}.cpp
+
+SHIPDIR     = drivers/${ROBOT}
+SHIP        = ${ROBOT}.xml 155-DTM.rgb logo.rgb
+SHIPSUBDIRS =
+
+PKGSUBDIRS  = ${SHIPSUBDIRS}
+src-robots-pid_driver_PKGFILES = $(shell find * -maxdepth 0 -type f -print)
+src-robots-pid_driver_PKGDIR   = ${PACKAGE}-${VERSION}/$(subst ${TORCS_BASE},,$(shell pwd))
+
+include ${MAKE_DEFAULT}

src/drivers/pid_driver/pid_driver.cpp

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+/***************************************************************************
+
+    file                 : pid_driver.cpp
+    created              : Sat Nov 4 20:28:35 CET 2017
+    copyright            : (C) 2002 Jonas Natzer
+
+ ***************************************************************************/
+
+/***************************************************************************
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ ***************************************************************************/
+
+#ifdef _WIN32
+#include <windows.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <tgf.h>
+#include <track.h>
+#include <car.h>
+#include <raceman.h>
+#include <robottools.h>
+#include <robot.h>
+
+static tTrack	*curTrack;
+
+static void initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *s);
+static void newrace(int index, tCarElt* car, tSituation *s);
+static void drive(int index, tCarElt* car, tSituation *s);
+static void endrace(int index, tCarElt *car, tSituation *s);
+static void shutdown(int index);
+static int  InitFuncPt(int index, void *pt);
+
+
+/*
+ * Module entry point
+ */
+extern "C" int
+pid_driver(tModInfo *modInfo)
+{
+    memset(modInfo, 0, 10*sizeof(tModInfo));
+
+    modInfo->name    = strdup("pid_driver");		/* name of the module (short) */
+    modInfo->desc    = strdup("");	/* description of the module (can be long) */
+    modInfo->fctInit = InitFuncPt;		/* init function */
+    modInfo->gfId    = ROB_IDENT;		/* supported framework version */
+    modInfo->index   = 1;
+
+    return 0;
+}
+
+/* Module interface initialization. */
+static int
+InitFuncPt(int index, void *pt)
+{
+    tRobotItf *itf  = (tRobotItf *)pt;
+
+    itf->rbNewTrack = initTrack; /* Give the robot the track view called */
+				 /* for every track change or new race */
+    itf->rbNewRace  = newrace; 	 /* Start a new race */
+    itf->rbDrive    = drive;	 /* Drive during race */
+    itf->rbPitCmd   = NULL;
+    itf->rbEndRace  = endrace;	 /* End of the current race */
+    itf->rbShutdown = shutdown;	 /* Called before the module is unloaded */
+    itf->index      = index; 	 /* Index used if multiple interfaces */
+    return 0;
+}
+
+/* Called for every track change or new race. */
+static void
+initTrack(int index, tTrack* track, void *carHandle, void **carParmHandle, tSituation *s)
+{
+    curTrack = track;
+    *carParmHandle = NULL;
+}
+
+/* Start a new race. */
+static void
+newrace(int index, tCarElt* car, tSituation *s)
+{
+}
+
+/* Drive during race. */
+static void
+drive(int index, tCarElt* car, tSituation *s)
+{
+    memset((void *)&car->ctrl, 0, sizeof(tCarCtrl));
+    car->ctrl.brakeCmd = 1.0; /* all brakes on ... */
+
+    float angle;
+    const float SC = 1.0;
+
+    angle = RtTrackSideTgAngleL(&(car->_trkPos)) - car->_yaw;
+    NORM_PI_PI(angle); // put the angle back in the range from -PI to PI
+    angle -= SC*car->_trkPos.toMiddle/car->_trkPos.seg->width;
+
+    // set up the values to return
+    car->ctrl.steer = angle / car->_steerLock;
+    car->ctrl.gear = 1; // first gear
+    car->ctrl.accelCmd = 0.3; // 30% accelerator pedal
+    car->ctrl.brakeCmd = 0.0; // no brakes
+}
+
+/* End of the current race */
+static void
+endrace(int index, tCarElt *car, tSituation *s)
+{
+}
+
+/* Called before the module is unloaded */
+static void
+shutdown(int index)
+{
+}
+

src/drivers/pid_driver/pid_driver.def

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+;
+;   file                 : pid_driver.def
+;   created              : Sat Nov 4 20:28:35 CET 2017
+;   copyright            : (C) 2002 Jonas Natzer
+;
+;
+;    This program is free software; you can redistribute it and/or modify
+;    it under the terms of the GNU General Public License as published by
+;    the Free Software Foundation; either version 2 of the License, or   
+;    (at your option) any later version.                                 
+;
+
+LIBRARY	pid_driver
+
+SECTIONS .data READ WRITE
+
+EXPORTS
+	pid_driver
+