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Algorithm: uncommented checks in RoomBypassingAlgorithm.getCommand() that was commented by mistake. Refactored SPURIOUD_REFLECTION_DIFF into ECHO_REFLECTION_DIFF to match meaning more closely

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dsavvinov
2016-09-01 11:44:36 +03:00
parent 4e44f8847a
commit 97a0f343ce
1 changed files with 8 additions and 7 deletions
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server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
+8 -7
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@@ -24,8 +24,8 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
private val ISOSCALENESS_MAX_DIFF = 50 // almost reached outer corner but not yet, and 120 meas. founds far wall
private val DISTANCE_TO_WALL_UPPER_BOUND = 60 // have to move closer to the parallel wall
private val DISTANCE_TO_WALL_LOWER_BOUND = 40 // have to move farther to the parallel wall
private val SPURIOUS_REFLECTION_DIFF = 70 // we're approaching corner and get spurious reflection from two walls on 60 meas. ! Should be before outer corner case !
private val RANGE_FROM_ZERO_POINT_TO_FINISH_ALG = 60
private val ECHO_REFLECTION_DIFF = 70 // we're approaching corner and get spurious reflection from two walls on 60 meas. ! Should be before outer corner case !
private val RANGE_FROM_ZERO_POINT_TO_FINISH_ALG = 50
private var calibrateAfterRotate = false
@@ -209,8 +209,6 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
return moveForward(dist0.distance)
}
// Approaching inner corner and getting spurious reflection from 2 walls on 60 - just move forward to get closer to corner
for (i in 70..110 step 10) {
if (i == 90) {
continue // point on 90 was already added
@@ -240,15 +238,18 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
return correctDistanceToParallelWall(anglesDistances, state)
}
if (dist70.distance - dist0.distance > SPURIOUS_REFLECTION_DIFF) {
// Approaching inner corner and getting spurious reflection from 2 walls on 60;
// Just move forward to get closer to the corner;
if (dist70.distance - dist0.distance > ECHO_REFLECTION_DIFF) {
log("Spurious reflection detected, moving forward")
return moveForward(dist0.distance)
}
// Approaching outer corner (parallel wall is ending soon, but not yet) - just move forward to get to the end of the wall
// Approaching outer corner (parallel wall is ending soon, but not yet);
// Just move forward to get to the end of the wall
if (dist80.distance == -1 || Math.abs(dist100.distance - dist80.distance) > ISOSCALENESS_MAX_DIFF) {
log("Aprroaching outer corner, moving forward")
return moveForward(30)
return moveForward(dist0.distance)
}
// default case: everything is ok, just move forward