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);
}
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);
}
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();
}
CarControl Stuck::drive(FSMDriver5 *fsmdriver5, CarState &cs) {
++elapsedTicks;
trackInitialPos = getInitialPos(cs);
if(notStuckAnymore(cs.getTrackPos(), cs.getAngle()) || hasBeenStuckLongEnough()){
elapsedTicks = 0;
slowSpeedTicks = 0;
trackInitialPos = 0;
}
const float accel = 1, brake = 0, clutch = 0;
const int gear = -1, focus = 0, meta = 0;
float steer = getSteer(trackInitialPos, cs);
return CarControl(accel, brake, gear, steer, clutch, focus, meta);
}
CarControl
Stuck::drive(CarState &cs) {
++elapsed_ticks;
track_initial_pos = getInitialPos(cs);
if(notStuckAnymore(cs) || hasBeenStuckLongEnough()) {
elapsed_ticks = 0;
slow_speed_ticks = 0;
track_initial_pos = 0;
}
int gear = get_gear(cs);
float accel = get_accel(cs);
float brake = get_brake(cs);
float clutch = get_clutch(cs);
const int focus = 0, meta = 0;
float steer = auxSteer(track_initial_pos, cs);
return CarControl(accel, brake, gear, steer, clutch, focus, meta);
}
