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corrected constants, corrected moving in outer angle

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This commit is contained in:
MaximZaitsev
2016-09-01 13:12:18 +03:00
parent e5ba0307a9
commit a0cd084a0e
2 changed files with 26 additions and 22 deletions
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server/src/main/java/algorithm/AlgorithmThread.kt
+1
View File
@@ -17,6 +17,7 @@ class AlgorithmThread(val algorithmImpl: AbstractAlgorithm) : Thread() {
}
}
println("algorithm is finished!")
}
fun setCount(count: Int) {
server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
+25 -22
View File
@@ -16,7 +16,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
override val WINDOW_SIZE = 3
//SHOULD BE CALIBRATED BEFORE RUNNING!!!!!!!!!!!
private val CHARGE_CORRECTION = 0.88//on full charge ok is 0.83 - 0.86
private val CHARGE_CORRECTION = 0.87//on full charge ok is 0.83 - 0.86
private val MAX_DISTANCE_TO_WALL_AHEAD = 55 // reached the corner and should turn left
private val OUTER_CORNER_DISTANCE_THRESHOLD = 90 // reached outer corner
@@ -25,7 +25,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
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 = 50
private val RANGE_FROM_ZERO_POINT_TO_FINISH_ALG = 60
private var calibrateAfterRotate = false
@@ -51,7 +51,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
val resultBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
resultBuilder.setDirections(getIntArray(FORWARD, RIGHT, FORWARD))
val wallAngle = calculateAngle(anglesDistances, state)
resultBuilder.setDistances(getIntArray(15, wallAngle.degs(), 70))
resultBuilder.setDistances(getIntArray(40, wallAngle.degs(), 75))
addWall(-wallAngle)
carAngle = RoomModel.walls.last().wallAngleOX.degs()
calibrateAfterRotate = true
@@ -100,21 +100,23 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
private fun correctDistanceToParallelWall(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest {
val resultBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
val rotationDirection = if (anglesDistances[Angle(90)]!!.distance > 50) RIGHT else LEFT
val distToWall = anglesDistances[Angle(90)]!!.distance
val rotationDirection = if (distToWall > DISTANCE_TO_WALL_UPPER_BOUND) RIGHT else LEFT
val backRotationDirection = if (rotationDirection == RIGHT) LEFT else RIGHT
resultBuilder.setDirections(getIntArray(rotationDirection, FORWARD, backRotationDirection))
resultBuilder.setDistances(getIntArray(15, 20, 5))
val rangeToCorridor = if (distToWall > DISTANCE_TO_WALL_UPPER_BOUND) {
distToWall - DISTANCE_TO_WALL_UPPER_BOUND
} else {
DISTANCE_TO_WALL_LOWER_BOUND - distToWall
}
resultBuilder.setDistances(getIntArray(2 * rangeToCorridor + 5, 20, (1.5 * rangeToCorridor).toInt()))
return resultBuilder.build()
}
private fun moveForward(distToWall: Int): RouteMetricRequest {
val resultBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
resultBuilder.setDirections(getIntArray(FORWARD))
if (distToWall == -1 || distToWall > 200) {
resultBuilder.setDistances(getIntArray(70))
} else {
resultBuilder.setDistances(getIntArray(Math.max(distToWall / 4, 20)))
}
resultBuilder.setDistances(getIntArray(Math.max(distToWall / 4, 20)))
return resultBuilder.build()
}
@@ -208,16 +210,6 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
}
// Approaching inner corner and getting spurious reflection from 2 walls on 60 - just move forward to get closer to corner
// if (dist70.distance - dist0.distance > SPURIOUS_REFLECTION_DIFF) {
// log("Spurious reflection detected, moving forward")
// return moveForward()
// }
//
// // 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()
// }
for (i in 70..110 step 10) {
if (i == 90) {
@@ -248,6 +240,17 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
return correctDistanceToParallelWall(anglesDistances, state)
}
if (dist70.distance - dist0.distance > SPURIOUS_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
if (dist80.distance == -1 || Math.abs(dist100.distance - dist80.distance) > ISOSCALENESS_MAX_DIFF) {
log("Aprroaching outer corner, moving forward")
return moveForward(30)
}
// default case: everything is ok, just move forward
log("Default case: moving forward")
return moveForward(dist0.distance)
@@ -278,11 +281,11 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
carY -= (Math.sin(degreesToRadian(carAngle.toInt())) * route.distances[idx]).toInt()
}
LEFT -> {
// route.distances[idx] = (CHARGE_CORRECTION * route.distances[idx]).toInt()
route.distances[idx] = (CHARGE_CORRECTION * route.distances[idx]).toInt()
// carAngle += route.distances[idx]
}
RIGHT -> {
// route.distances[idx] = (CHARGE_CORRECTION * route.distances[idx]).toInt()
route.distances[idx] = (CHARGE_CORRECTION * route.distances[idx]).toInt()
// carAngle -= route.distances[idx]
}
}