// Drive during race.
void Driver::drive(tSituation *s)
{
memset(&car->ctrl, 0, sizeof(tCarCtrl));
update(s);
//pit->setPitstop(true);
if (isStuck()) {
car->_steerCmd = -mycardata->getCarAngle() / car->_steerLock;
car->_gearCmd = -1; // Reverse gear.
car->_accelCmd = 1.0f; // 100% accelerator pedal.
car->_brakeCmd = 0.0f; // No brakes.
car->_clutchCmd = 0.0f; // Full clutch (gearbox connected with engine).
} else {
car->_steerCmd = filterSColl(getSteer());
car->_gearCmd = getGear();
car->_brakeCmd = filterABS(filterBrakeSpeed(filterBColl(filterBPit(getBrake()))));
if (car->_brakeCmd == 0.0f) {
car->_accelCmd = filterTCL(filterTrk(filterOverlap(getAccel())));
} else {
car->_accelCmd = 0.0f;
}
car->_clutchCmd = getClutch();
}
}
/* Drive during race. */
void Driver::drive(tSituation *s)
{
memset(&car->ctrl, 0, sizeof(tCarCtrl));
update(s);
if (isStuck()) {
car->ctrl.steer = -angle / car->_steerLock;
car->ctrl.gear = -1; // reverse gear
car->ctrl.accelCmd = 0.5; // 50% accelerator pedal
car->ctrl.brakeCmd = 0.0; // no brakes
} else {
car->ctrl.steer = filterSColl(getSteer());
car->ctrl.gear = getGear();
car->ctrl.brakeCmd = filterABS(filterBrakeSpeed(filterBColl(filterBPit(getBrake()))));
if (car->ctrl.brakeCmd == 0.0) {
car->ctrl.accelCmd = filterTCL(filterTrk(getAccel()));
} else {
car->ctrl.accelCmd = 0.0;
}
}
}
