/**************************************************************************
* Modularization*/
float
Stuck::get_steer(CarState &cs) {
if(abs(cs.getAngle()) > M_PI) // around 180 graus
return (getInitialPos(cs) > 0 ? -1 : 1);
return (getInitialPos(cs) > 0 ? 1 : -1);
}
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);
}
