The Blue boat is a research vehicle we aim to control for various automated tasks.

Its physics are coded in a simple scipy ODE solver, with control interfaces being developed for PWM and RL-based solutions.

Run python3 blueboat_control.py to play with the keyboard only, or python3 blueboat_control.py xbox to play with a joystick controller.

Controls for moving the boat:

• Xbox Controller: Left stick to accelerate, right stick to steer
• Keyboard: Arrows to control the steering and throttle with increments

Other controls:

• Press "r" to reset the simulator.
• Hold "p" to freeze time. Release "p" to resume.
• Press "a" to toggle auto control. When in auto control, the boat follows a reference path (choose with "1", "2", "3", "4", "5").
• Press "t" to toggle auto trailer following.
• Press "v" to toggle velocity profiles display.
• Press "c" to toggle continuous control (vs. discontinuous driving modes).