From b6f4a63b638a4dc11660dbb528caea877b274a89 Mon Sep 17 00:00:00 2001 From: MaximZaitsev Date: Fri, 26 Aug 2016 17:53:47 +0300 Subject: [PATCH] online random, remove best sonar, fixed error on test room line --- car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt | 4 ++-- car_srv/kotlinSrv/src/room/Room.kt | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt b/car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt index ab5e26f43f0..afa146dd657 100644 --- a/car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt +++ b/car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt @@ -18,7 +18,7 @@ class ControllerEmulator : Controller { private val MOVE_VELOCITY = 0.05//sm/ms private val ROTATION_VELOCITY = 0.05//degrees/ms - private val ADD_RANDOM = false + private val ADD_RANDOM = true enum class MoveDirection { LEFT, @@ -123,7 +123,7 @@ class ControllerEmulator : Controller { continue } val currentDistance = Math.round(Math.sqrt(Math.pow(xIntersection - xSensor0, 2.0) - + Math.pow(yIntersection - ySensor0, 2.0)) * 1000000) + + Math.pow(yIntersection - ySensor0, 2.0))) if (currentDistance < result) { result = currentDistance } diff --git a/car_srv/kotlinSrv/src/room/Room.kt b/car_srv/kotlinSrv/src/room/Room.kt index 9570225b77c..95cfaf0111d 100644 --- a/car_srv/kotlinSrv/src/room/Room.kt +++ b/car_srv/kotlinSrv/src/room/Room.kt @@ -68,7 +68,7 @@ object Room { val leftLine = Line(1.0, 0.0, 150.0) val bottomLine = Line(0.0, 1.0, 20.0) val rightLine = Line(-1.2, 1.0, 140.0) - val rightLine2 = Line(1.0, 1.0, -350.0) + val rightLine2 = Line(1.0, 0.0, -200.0) val walls = listOf(Wall(upLine, 200, -150, 300, 300), Wall(leftLine, -150, -150, 300, -20), @@ -79,4 +79,4 @@ object Room { return walls } -} \ No newline at end of file +}