add dynamic rotation after corner

2016-08-31 09:38:45 +03:00
parent 698516309b
commit 4e4630419a
1 changed files with 1 additions and 1 deletions
@@ -122,7 +122,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
                val resultBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
                val rotationDirection = if (anglesDistances[Angle(120)]!!.distance > anglesDistances[Angle(60)]!!.distance) LEFT else RIGHT
                resultBuilder.setDirections(getIntArray(rotationDirection))
-                resultBuilder.setDistances(getIntArray(5))
+                resultBuilder.setDistances(getIntArray(Math.min(Math.abs(dist60.distance - dist120.distance), 20)))
                return resultBuilder.build()
            } else {
                calibrateAfterRotate = false