void
ApproachingCurve::updateSensors(CarState &cs) {
float speedFactor = 5000; // The target speed is obtained through a constant factor
if (cs.getFocus(2) == -1) { // Focus sensors are available only once per second
r_sensor = cs.getTrack(10); // Use track sensors
c_sensor = cs.getTrack(9);
l_sensor = cs.getTrack(8);
}
else {
r_sensor = cs.getFocus(3); // Use focus sensors
c_sensor = cs.getFocus(2);
l_sensor = cs.getFocus(1);
}
target_speed = base_speed + speedFactor / fabs(l_sensor - r_sensor);
sensors_are_updated = true;
}
void ApproachingCurve::updateSensors(CarState &cs) {
float speedFactor = 5000; //The target speed is obtained through a constant factor
if (cs.getFocus(2) == -1) { //Focus sensors are available only once per second
// cout << "FOCUS MISS!" << endl;
rSensor = cs.getTrack(10); //Use track sensors
cSensor = cs.getTrack(9);
lSensor = cs.getTrack(8);
}
else {
// cout << "FOCUS HIT!" << endl;
rSensor = cs.getFocus(3); //Use focus sensors
cSensor = cs.getFocus(2);
lSensor = cs.getFocus(1);
}
targetSpeed = BASE_SPEED + speedFactor / fabs(lSensor - rSensor);
sensorsAreUpdated = true;
}
