// 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();
}
}
CarControl Curve::drive(FSMDriver5 *FSMDriver5, CarState &cs) {
float steer = getSteer(cs);
int gear = StraightLine::getGear(cs);
float accel = getAccel(cs);
float brake = getBrake(cs);
float clutch = 0;
return CarControl(accel, brake, gear, steer, clutch);
}
char processBrakeCommand(char commandCode, void* commandData, void* responseData) {
switch(commandCode) {
case SET_BRAKE:
setBrake(*((char*)commandData));
break;
case GET_BRAKE:
getBrake((char*) responseData);
break;
}
}
CarControl ApproachingCurve::drive(FSMDriver5 *FSMDriver5, CarState &cs) {
if(!sensorsAreUpdated) /*@todo Só atualiza na 1a vez mesmo? */
updateSensors(cs);
const int focus = 0, meta = 0;
const float clutch = 0;
return CarControl(getAccel(cs), getBrake(cs), getGear(cs), cs.getAngle(), clutch, focus, meta);
//Use the line below if the behavior of adjusting the car to the curve ahead is desired (not fully functional):
//return CarControl(getAccel(cs), getBrake(cs), getGear(cs), getSteering(cs), clutch, focus, meta);
}
/* 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;
}
}
}
