bool Stuck::seemsStuck(CarState &cs) {
cs.getSpeedX()<STUCK_SPEED?slowSpeedTicks++:slowSpeedTicks = 0;
if(notStuckAnymore(cs.getTrackPos(), cs.getAngle())){
slowSpeedTicks=0;
}
return (slowSpeedTicks>MAX_SLOW_SPEED_TICKS?1:0);
}
bool
Stuck::seemsStuck(CarState &cs) {
if(cs.getSpeedX() < stuck_speed)
++slow_speed_ticks;
else
slow_speed_ticks = 0;
if(notStuckAnymore(cs))
slow_speed_ticks = 0;
return (slow_speed_ticks > maximum_number_of_ticks_in_slow_speed);
}
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);
}
