void DL_torquespring::calculate_and_apply(void) {
DL_vector t;
calculate_torque();
if (maxtorque!=0) {
if (maxtorque>0) {
if (fabs(storque)>maxtorque) {
deactivate();
// possibly raise an event here
return;
}
}
else { // maxforce<0
DL_Scalar tl=fabs(storque);
if (tl<maxtorque) {
storque*=maxtorque/tl;
// possibly raise an event here
}
}
}
springtorque(&t);
d->applytorque(&t);
if (g_is_dyna) {
t.neg(&t);
((DL_dyna*)g)->applytorque(&t);
}
}
double track_simulation(double speed){
unsigned int time_now = millis();
total_distance += speed*(double)(time_now - time_last_call);
time_last_call = time_now;
if (track_distance[current_track_segment] < total_distance) {current_track_segment+=1;}
float segment_distance = track_elevation_change[current_track_segment]-track_elevation_change[current_track_segment+1];
double tourque_reference = calculate_torque(speed, segment_distance, track_elevation_change[current_track_segment+1]);
return tourque_reference;
}
