feat + fix: Increased speed of car in controls projects to 200 MPH,

updated menu to show EKF and UKF use same scene and Run Away Car is a
Bonus Challenge, fixed timing issue in PF so that no matter what the
delay, the accuracy result doesnt change also added timing constraint of
100 seconds to finish to pass.

Assets/1_SelfDrivingCar/Scenes/project_3/particle_filter_v2.unity

@@ -2114,6 +2114,7 @@ MonoBehaviour:
   - {fileID: 2039399158}
   run_button: {fileID: 323763175}
   time: {fileID: 1046353007}
+  system_time: {fileID: 1792479840}
   status: {fileID: 1242085451}
   average_error: {fileID: 801420254}
   map_data: {fileID: 4900000, guid: 76bf173f65b03954ab091848e5a087c7, type: 3}
@@ -5957,6 +5958,7 @@ RectTransform:
   - {fileID: 801420253}
   - {fileID: 1242085450}
   - {fileID: 1046353006}
+  - {fileID: 1792479839}
   m_Father: {fileID: 610982329}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
@@ -7360,6 +7362,82 @@ Transform:
   m_Father: {fileID: 614215526}
   m_RootOrder: 6
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 90}
+--- !u!1 &1792479838
+GameObject:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  serializedVersion: 5
+  m_Component:
+  - component: {fileID: 1792479839}
+  - component: {fileID: 1792479841}
+  - component: {fileID: 1792479840}
+  m_Layer: 5
+  m_Name: time_system
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!224 &1792479839
+RectTransform:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 1792479838}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1.0000113, y: 1.0000113, z: 1.0000113}
+  m_Children: []
+  m_Father: {fileID: 1095899312}
+  m_RootOrder: 5
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+  m_AnchorMin: {x: 0, y: 0}
+  m_AnchorMax: {x: 1, y: 1}
+  m_AnchoredPosition: {x: -504, y: 193}
+  m_SizeDelta: {x: -1150, y: -679}
+  m_Pivot: {x: 0.5, y: 0.5}
+--- !u!114 &1792479840
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 1792479838}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 708705254, guid: f70555f144d8491a825f0804e09c671c, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Material: {fileID: 0}
+  m_Color: {r: 0, g: 0, b: 0, a: 1}
+  m_RaycastTarget: 1
+  m_OnCullStateChanged:
+    m_PersistentCalls:
+      m_Calls: []
+    m_TypeName: UnityEngine.UI.MaskableGraphic+CullStateChangedEvent, UnityEngine.UI,
+      Version=1.0.0.0, Culture=neutral, PublicKeyToken=null
+  m_FontData:
+    m_Font: {fileID: 10102, guid: 0000000000000000e000000000000000, type: 0}
+    m_FontSize: 26
+    m_FontStyle: 0
+    m_BestFit: 0
+    m_MinSize: 2
+    m_MaxSize: 40
+    m_Alignment: 4
+    m_AlignByGeometry: 0
+    m_RichText: 1
+    m_HorizontalOverflow: 1
+    m_VerticalOverflow: 0
+    m_LineSpacing: 1
+  m_Text: 'System Time: 2000
+
+'
+--- !u!222 &1792479841
+CanvasRenderer:
+  m_ObjectHideFlags: 0
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 0}
+  m_GameObject: {fileID: 1792479838}
 --- !u!1 &1844053175
 GameObject:
   m_ObjectHideFlags: 0

Assets/1_SelfDrivingCar/Scenes/project_4/LakeTrackAutonomous_pid.unity

@@ -2059,12 +2059,16 @@ Prefab:
       objectReference: {fileID: 0}
     - target: {fileID: 11400002, guid: 0e7ee4df08df88c4880f43398f9ad2c2, type: 2}
       propertyPath: m_Topspeed
-      value: 100
+      value: 200
       objectReference: {fileID: 0}
     - target: {fileID: 100042, guid: 0e7ee4df08df88c4880f43398f9ad2c2, type: 2}
       propertyPath: m_Name
       value: Car
       objectReference: {fileID: 0}
+    - target: {fileID: 11400002, guid: 0e7ee4df08df88c4880f43398f9ad2c2, type: 2}
+      propertyPath: m_Downforce
+      value: 100
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_ParentPrefab: {fileID: 100100000, guid: 0e7ee4df08df88c4880f43398f9ad2c2, type: 2}
   m_IsPrefabParent: 0

Assets/1_SelfDrivingCar/Scenes/project_5/LakeTrackAutonomous_mpc.unity

@@ -2125,7 +2125,7 @@ Prefab:
       objectReference: {fileID: 0}
     - target: {fileID: 11400002, guid: 0e7ee4df08df88c4880f43398f9ad2c2, type: 2}
       propertyPath: m_Topspeed
-      value: 100
+      value: 200
       objectReference: {fileID: 0}
     - target: {fileID: 100042, guid: 0e7ee4df08df88c4880f43398f9ad2c2, type: 2}
       propertyPath: m_Name

Assets/1_SelfDrivingCar/Scripts/MenuOptions.cs

@@ -18,7 +18,7 @@ public class MenuOptions : MonoBehaviour
     public void Start ()
     {
 		project = 0;
-		project_name.text = "Project 1: Bicycle Tracker with EKF";
+		project_name.text = "Project 1/2: EKF and UKF";
 		project_image.sprite = project_1;
     }
 
@@ -59,12 +59,12 @@ public void Next()
 
 		if(project == 0)
 		{
-			project_name.text = "Project 1: Bicycle Tracker with EKF";
+			project_name.text = "Project 1/2: EKF and UKF";
 			project_image.sprite = project_1;
 		}
 		else if(project == 1)
 		{
-			project_name.text = "Project 2: Run Away Robot with UKF";
+			project_name.text = "Bonus Challenge: Catch the Run Away Car";
 			project_image.sprite = project_2;
 		}
 		else if(project == 2)
@@ -97,12 +97,12 @@ public void Previous()
 
 		if(project == 0)
 		{
-			project_name.text = "Project 1: Bicycle Tracker with EKF";
+			project_name.text = "Project 1/2: EKF and UKF";
 			project_image.sprite = project_1;
 		}
 		else if(project == 1)
 		{
-			project_name.text = "Project 2: Run Away Robot with UKF";
+			project_name.text = "Bonus Challenge: Catch the Run Away Car";
 			project_image.sprite = project_2;
 		}
 		else if(project == 2)

Assets/1_SelfDrivingCar/Scripts/project_3/CommandServer_pf.cs

@@ -25,11 +25,7 @@ void Start()
 
 		particle_filter = car.GetComponent<particle_filter_v2> ();
 	}
-
-	// Update is called once per frame
-	void Update()
-	{
-	}
+
 
 	void OnOpen(SocketIOEvent obj)
 	{
@@ -68,6 +64,8 @@ void BestParticle(SocketIOEvent obj)
 
 			particle_filter.SenseParticleDistance (associations, sense_x, sense_y);
 
+			particle_filter.setSimulatorProcess();
+
 		}
 
 		EmitTelemetry(obj);
@@ -82,14 +80,14 @@ void EmitTelemetry(SocketIOEvent obj)
 
 				//print("Attempting to Send...");
 				// send only if robot is moving
-				if (!particle_filter.isRunning() || !particle_filter.isReadyProcess()) {
+				if (!particle_filter.isRunning() || !particle_filter.isServerProcess()) {
 
 					_socket.Emit("telemetry", new JSONObject());
 				}
 				else {
 
-					particle_filter.Processed();
-					
+					particle_filter.ServerPause();
+
 					// Collect Data from the robot's sensors
 					Dictionary<string, string> data = new Dictionary<string, string>();
 					data["sense_x"] = particle_filter.Sense_x().ToString("N4");
@@ -103,6 +101,7 @@ void EmitTelemetry(SocketIOEvent obj)
 					data["sense_observations_y"] = particle_filter.Sense_Obsy();
 
 					_socket.Emit("telemetry", new JSONObject(data));
+
 				}
 		});
 	}

Assets/1_SelfDrivingCar/Scripts/project_3/particle_filter_v2.cs

@@ -36,6 +36,8 @@ public class particle_filter_v2 : MonoBehaviour {
 
 	private double scale = .1;
 	private int time_step;
+	private int time_system;
+	private double current_time;
 
 	private float x_cum;
 	private float y_cum;
@@ -50,12 +52,13 @@ public class particle_filter_v2 : MonoBehaviour {
 	// UI
 	public Text run_button;
 	public Text time;
+	public Text system_time;
 	public Text status;
 	public Text average_error;
 	private bool status_check;
 
-	//if there is new data to process
-	private bool process_data;
+	private bool simulator_process;
+	private bool server_process;
 	private bool script_running = false;
 
 	public TextAsset map_data;
@@ -81,8 +84,12 @@ void Start () {
 		status.text = "";
 		status_check = false;
 
+		current_time = 0;
+
 		time_step = 0;
+		time_system = 0;
 		time.text = "Time Step: "+time_step.ToString ();
+		system_time.text = "System Time: "+time_step.ToString ();
 
 		//Clear landmarks if restarting
 		if (map != null) 
@@ -131,21 +138,24 @@ void Start () {
 		ResetParticleSensors ();
 
 		//flag new data is ready to process
-		process_data = true;
+		simulator_process = false;
+		server_process = true;
 
 	}
 
 	// Update is called once per frame
 	void FixedUpdate () {
 
 		//dont run past time interval and dont run until last data was processed
-		if (running && time_step < x_positions.Count-1 && (!process_data||!script_running)) 
+		if (running && time_step < x_positions.Count-1 && (simulator_process||!script_running)) 
 		{
-
 
+				simulator_process = false;
+
+
 				time_step++;
-				time.text = "Time Step: "+time_step.ToString ();
-
+				time.text = "Time Step: " + (time_step).ToString ("N2");
+				
 				transform.position = new Vector3 (x_positions [time_step], y_positions [time_step], 0);
 				transform.rotation = Quaternion.AngleAxis (t_positions [time_step] * Mathf.Rad2Deg, Vector3.forward);
 
@@ -158,16 +168,26 @@ void FixedUpdate () {
 				ResetSensors ();
 				SenseDistance ();
 
-				//flag new data is ready to process
-				process_data = true;
-
+				server_process = true;
 
 		}
+
+
+		if (running) 
+		{
+			time_system++;
+			current_time = (time_system * Time.deltaTime);
+			system_time.text = "System Time: " + (current_time).ToString ("N2");
+		}
+
+
 		if (running && time_step >= x_positions.Count-1) {
+
 			if (!status_check && script_running) 
 			{
 				status.text = "Success! Your particle filter passed!"; 
 				status_check = true;
+
 			}
 			ToggleRunning();
 		}
@@ -199,15 +219,23 @@ public bool isRunning()
 	{
 		return running;
 	}
-	public bool isReadyProcess()
+
+
+	public bool isServerProcess()
+	{
+		return server_process;
+	}
+	public void ServerPause()
 	{
-		return process_data;
+		server_process = false;
 	}
-	public void Processed()
+	public void setSimulatorProcess()
 	{
-		process_data = false;
+		simulator_process = true;
 	}
 
+
+
 	public float normrand(float mean, float stdDev)
 	{
 		float u1 = 1.0f-Random.Range (0.0f, 1.0f); //uniform(0,1] random doubles
@@ -219,6 +247,7 @@ public float normrand(float mean, float stdDev)
 
 	public void Estimate(float estimate_x, float estimate_y, float estimate_theta)
 	{
+
 		particle.transform.position = new Vector3 ((float)(estimate_x*scale), (float)(estimate_y*scale), 0);
 		particle.transform.rotation = Quaternion.AngleAxis (estimate_theta * Mathf.Rad2Deg, Vector3.forward);
 
@@ -512,7 +541,12 @@ public void SetError(int time_step, int max_time, float x, float y, float yaw)
 
 		if (time_step > 100 & !status_check) 
 		{
-			if (x > 1) 
+			if ((current_time) > 100.0) 
+			{
+				status.text = "You ran out of time "; 
+				status_check = true;
+			}
+			else if (x > 1) 
 			{
 				status.text = "Your x error is larger than the max"; 
 				status_check = true;