From 4e44f8847a01289512752e1e915ef97b3e62edd1 Mon Sep 17 00:00:00 2001 From: MaximZaitsev Date: Thu, 1 Sep 2016 15:09:50 +0300 Subject: [PATCH] corrected moving in outer angle --- server/src/main/java/algorithm/RoomBypassingAlgorithm.kt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt b/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt index 85013cf7a3b..18ca2e2a1e4 100644 --- a/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt +++ b/server/src/main/java/algorithm/RoomBypassingAlgorithm.kt @@ -51,7 +51,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger) : Abs val resultBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0)) resultBuilder.setDirections(getIntArray(FORWARD, RIGHT, FORWARD)) val wallAngle = calculateAngle(anglesDistances, state) - resultBuilder.setDistances(getIntArray(40, wallAngle.degs(), 75)) + resultBuilder.setDistances(getIntArray(20, wallAngle.degs(), 75)) addWall(-wallAngle) carAngle = RoomModel.walls.last().wallAngleOX.degs() calibrateAfterRotate = true