string
TTIWrapperDriver::drive(string sensors)
{
CarState cs(sensors);
current=cs;
curTick++;
if(zombie){
CarControl cc;
cc.setMeta(2);
return cc.toString();
}
if(isDead()){
clear();
zombie=true;
std::cout<<"terminated"<<std::endl;
CarControl cc;
cc.setMeta(2);
return cc.toString();
}
float lap = current.getLastLapTime();
if(lap!=lastLap){
lapTimes.push_back(lap);
lastLap=lap;
}
if(current.getTrackPos()>=1||current.getTrackPos()<=-1){
outside++;
}
CarControl cc = wDrive(cs);
return cc.toString();
}
string SimpleDriver::drive(string sensors) {
CarState cs(sensors);
CarControl nextVector = CarControl(0.0f, 0.0f, cs.getGear(), 0.0f, 0.0f);
if (automatedControl == NULL) {
Keyboard_Update(&nextVector);
log->push_back(pair<CarState, CarControl>(cs, nextVector));
} else {
this->automatedControl->generateVector(&cs, &nextVector);
}
return nextVector.toString();
}
