From 234c05c12015875a4dd3c74ab65d3767d633cbf8 Mon Sep 17 00:00:00 2001
From: e5l <leonid.stashevsky@gmail.com>
Date: Wed, 24 Aug 2016 11:55:19 +0300
Subject: [PATCH] car_fmw: smooth stop, small fixes

---
 car_fmw/src/Voyager.kt        | 21 +++++++++++++++------
 car_fmw/src/include/Random.kt |  4 ++--
 car_fmw/src/main.kt           |  2 +-
 3 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/car_fmw/src/Voyager.kt b/car_fmw/src/Voyager.kt
index cdb59ab889b..779991f189e 100644
--- a/car_fmw/src/Voyager.kt
+++ b/car_fmw/src/Voyager.kt
@@ -1,9 +1,12 @@
 
 object Voyager {
     val VELOCITY_DRIVE: Double = 0.03 // centimeter in millisecond
-    val VEL0CITY_ROUTATE: Double = 0.001 // degree in millisecond
+    val VEL0CITY_ROUTATE: Double = 0.015 // degree in millisecond
     val SEGMENT_SIZE: Int = 30 // centimeter
 
+    val MAX_ANGLE: Int = 180 // degree
+    val ENGINE_DELAY: Int = 500 // milisecond
+
     fun run() {
         while (true) {
             var distance = Sonar.getDistance(0)
@@ -12,19 +15,25 @@ object Voyager {
                 distance = Sonar.getDistance(0)
             }
 
-            rotate(Random.getInt())
+            rotate(Random.getInt() % MAX_ANGLE)
         }
     }
 
     private fun rotate(degree: Int) {
-        val time = (degree.toDouble() / VELOCITY_DRIVE).toInt()
+        val duration = (degree.toDouble() / VELOCITY_DRIVE).toInt()
         Engine.left()
-        Time.wait(time)
+        Time.wait(duration)
     }
 
     private fun drive(direction: RouteType, distance: Int) {
-        val time = (distance.toDouble() / VELOCITY_DRIVE).toInt()
+        val duration = (distance.toDouble() / VELOCITY_DRIVE).toInt()
         Engine.drive(direction.id)
-        Time.wait(time)
+        Time.wait(duration)
+        smoothStop()
+    }
+
+    private fun smoothStop() {
+        Engine.stop()
+        Time.wait(ENGINE_DELAY)
     }
 }
\ No newline at end of file
diff --git a/car_fmw/src/include/Random.kt b/car_fmw/src/include/Random.kt
index 9756c56f8ad..2979d92f5df 100644
--- a/car_fmw/src/include/Random.kt
+++ b/car_fmw/src/include/Random.kt
@@ -1,6 +1,6 @@
 
-external fun car_random_int(): Int
+external fun car_random_get_int(): Int
 
 object Random {
-    fun getInt(): Int = car_random_int()
+    fun getInt(): Int = car_random_get_int()
 }
diff --git a/car_fmw/src/main.kt b/car_fmw/src/main.kt
index ec66dda6298..65d6f22cd38 100644
--- a/car_fmw/src/main.kt
+++ b/car_fmw/src/main.kt
@@ -10,7 +10,7 @@ fun main() {
     Leds.set(Leds.GREEN, true)
 
     /* car task */
-    Control.run()
+//    Control.run()
 
     /* Voyager */
     Voyager.run()