int getGear(CarState & cs) { int current_gear = cs.getGear(); if(!current_gear) return 1; if(cs.getRpm() > 8000) ++current_gear; else if(current_gear > 1 && cs.getRpm() < 5000) --current_gear; return current_gear; }
int InsideTrackA::get_gear(CarState &cs) { int gear = cs.getGear(); if(gear <= 0) return start_gear; int rpm = cs.getRpm(); if(shouldIncreaseGear(gear, rpm)) ++gear; else if(shouldDecreaseGear(gear, rpm)) --gear; return gear; }
int SimpleDriver::getGear(CarState &cs) { int gear = cs.getGear(); int rpm = cs.getRpm(); // if gear is 0 (N) or -1 (R) just return 1 if (gear<1) return 1; // check if the RPM value of car is greater than the one suggested // to shift up the gear from the current one if (gear <6 && rpm >= gearUp[gear-1]) return gear + 1; else // check if the RPM value of car is lower than the one suggested // to shift down the gear from the current one if (gear > 1 && rpm <= gearDown[gear-1]) return gear - 1; else // otherwhise keep current gear return gear; }
void SimpleDriver::clutching(CarState &cs, float &clutch) { double maxClutch = clutchMax; // Check if the current situation is the race start if (cs.getCurLapTime()<clutchDeltaTime && stage==RACE && cs.getDistRaced()<clutchDeltaRaced) clutch = maxClutch; // Adjust the current value of the clutch if(clutch > 0) { double delta = clutchDelta; if (cs.getGear() < 2) { // Apply a stronger clutch output when the gear is one and the race is just started delta /= 2; maxClutch *= clutchMaxModifier; if (cs.getCurLapTime() < clutchMaxTime) clutch = maxClutch; } // check clutch is not bigger than maximum values clutch = min(maxClutch,double(clutch)); // if clutch is not at max value decrease it quite quickly if (clutch!=maxClutch) { clutch -= delta; clutch = max(0.0,double(clutch)); } // if clutch is at max value decrease it very slowly else clutch -= clutchDec; } }
CarControl MyDriver::wDrive(CarState cs){ // Update clock variables for graphing over time _timePrevious = _timeCurrent; _timeCurrent = Clock::now(); _dt = _timeCurrent - _timePrevious; _runtime += _dt; if (_logging) Renderer::get().setWindowTitle(std::to_string(_dt.count())); // Temporarily copy old sensors to delta and reset sensors with max distance memcpy(&_driving.delta[0], &_driving.sensors[0], sizeof(_driving.sensors)); std::fill_n(_driving.sensors, ALL_SENSORS, 200.f); // Directly mapping track sensors to front 19 sensors int zero = 0; for (int i = 0; i < HALF_SENSORS; i++){ float distance = cs.getTrack(i); if (distance <= 0.f) zero++; if (distance < _driving.sensors[i + QUART_SENSORS]) _driving.sensors[i + QUART_SENSORS] = distance; } if (zero == 19) _driving.crashed = true; else if (_driving.crashed) _driving.crashed = false; // Iterate through opponent sensors for (int i = 0; i < ALL_SENSORS; i++){ //std::cout << "i - " << i << "\n"; float distance = cs.getOpponents(i); // If no opponent, skip sensor if (distance >= _awarnessOpponent * 200.f) continue; // Calculate amount of track sensors to block, and round to nearest even integer float raw = distance / (_awarnessOpponent * 200.f); float block = ((1.f - raw) * (float)((_maxBlock - 2) + 2)); block = glm::roundEven(block); // Apply smaller distances to sensor array for (int x = block / 2; x >= -(block / 2 - 1); x--){ int sensor = (i + x) % ALL_SENSORS; float dropOff = glm::abs(changeRange(block / 2, -(block / 2 - 1), -1.f, 1.f, x)); if (_driving.sensors[sensor] > distance + dropOff * _blockDropOff) _driving.sensors[sensor] = distance + dropOff * _blockDropOff; } } // Calculate difference using old sensors stored in delta for (int i = 0; i < ALL_SENSORS; i++){ _driving.delta[i] = _driving.delta[i] - _driving.sensors[i]; if (_driving.delta[i] < 0.f) _driving.delta[i] = glm::abs(_driving.delta[i]); else _driving.delta[i] = 0.f; if (_driving.delta[i] > 0.25f) _driving.delta[i] = 0.f; } // Decreasing sensors around furthest ray // if furthest ray is on left, decrease right sensors // if furthest ray is on right, decrease left sensors // if furthest ray is in the middle, decrease both sides sensors if (_driving.furthestRay <= QUART_SENSORS){ for (int i = _driving.furthestRay; i < HALF_SENSORS; i++){ _driving.sensors[QUART_SENSORS + i] *= changeRange(_driving.furthestRay, 18, 1, 0, i); } } if (_driving.furthestRay >= QUART_SENSORS){ for (int i = _driving.furthestRay; i >= 0; i--){ _driving.sensors[QUART_SENSORS + i] *= changeRange(_driving.furthestRay, 0, 1, 0, i); } } // Choosing which ray to steer towards, and how fast float maxDistance = _driving.sensors[_driving.furthestRay + QUART_SENSORS]; for (int i = 0; i < HALF_SENSORS; i++){ float distance = _driving.sensors[i + QUART_SENSORS]; if (maxDistance < distance){ maxDistance = distance; _driving.furthestRay = i; } } // P - PID float proportional = (changeRange(0.f, 18.f, 1.5f, -1.5f, _driving.furthestRay) - (cs.getTrackPos() / 500.f)) - cs.getTrackPos() * _middleDrift; proportional *= _p; // I - PID while (_driving.steerHistory.size() > _historySteerLength) _driving.steerHistory.erase(_driving.steerHistory.begin()); float integral = 0.f; for (float i : _driving.steerHistory) integral += i; integral *= _i; // D - PID float derivative = 0.f; if (_driving.steerHistory.size() >= 2) derivative = _driving.steerHistory[_driving.steerHistory.size() - 1] - _driving.steerHistory[_driving.steerHistory.size() - 2]; derivative *= _d; // P + I + D float oldSteer = _driving.steer; _driving.steer = proportional + integral + derivative; _driving.steerHistory.push_back(_driving.steer); _driving.steer = glm::mix(oldSteer, _driving.steer, _easeSteer); // Speed control if (!_driving.crashed){ float speed = _driving.sensors[_driving.furthestRay + QUART_SENSORS] / (200.f * _awarnessTrack) + _driving.delta[_driving.furthestRay + QUART_SENSORS] * 8.f; speed *= (1.f - _speedRestrict); _driving.speed = glm::mix(_driving.speed, speed, _easeAccel); //*(1.f - cs.getTrack(QUART_SENSORS)) * brake; float brake = (cs.getSpeedX() / 200.f) - _driving.speed; if (brake > 0.f) _driving.brake = glm::mix(_driving.brake, brake, _easeBrake); else _driving.brake = 0.f; } // Changing gears int gear = cs.getGear(); int rpm = cs.getRpm(); if (gear < 1) _driving.gear = 1; if (gear < 6 && rpm >= _gearUp[gear - 1]) _driving.gear = gear + 1; else if (gear > 1 && rpm <= _gearDown[gear - 1]) _driving.gear = gear - 1; // If logging, render sensors if (_logging){ Renderer::get().drawGraph({ _runtime.count() / 100.f, _driving.steer }, 0); Renderer::get().drawGraph({ _runtime.count() / 100.f, _driving.speed }, 1); Renderer::get().drawGraph({ _runtime.count() / 100.f, _driving.brake }, 2); for (int i = 0; i < ALL_SENSORS; i++){ float distance = _driving.sensors[i]; if (distance < 0.1f) continue; float radians = glm::radians(i * 10.f); glm::vec2 point = { -glm::sin(radians), -glm::cos(radians) }; glm::vec3 colour = { 1.f, 1.f, 1.f }; if (_driving.furthestRay + QUART_SENSORS == i) colour = { 0.f, 1.f, 0.f }; float zoom = 10.f; Renderer::get().drawLine({ 0, 0 }, point * distance * zoom, colour); } if (_driving.crashed) std::cout << "Crashed!\n"; // Un-comment for pointless cool effects Renderer::get().setRotation(cs.getAngle() * 90.f); Renderer::get().setZoom(1.f + cs.getSpeedX() / 200.f); } // Applying to controller CarControl cc; cc.setGear(_driving.gear); cc.setAccel(_driving.speed); cc.setSteer(_driving.steer); cc.setBrake(_driving.brake); return cc; }