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corrected rotation velocity

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This commit is contained in:
MaximZaitsev
2016-08-26 12:08:34 +03:00
parent 6c641de854
commit b9f86d76c1
1 changed files with 4 additions and 5 deletions
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server/src/main/java/algorithm/RoomBypassingAlgorithm.kt
+4 -5
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@@ -14,13 +14,12 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
public var wallAngleWithOX = 0.0//in radian public var wallAngleWithOX = 0.0//in radian
public var wallLength = 0.0//sm public var wallLength = 0.0//sm
// var xPos = 0.0 var xPos = 0.0
// var yPos = 0.0 var yPos = 0.0
// var carAngle = 0.0 var carAngle = 0.0
private var prevPoint = Pair(0.0, 0.0) private var prevPoint = Pair(0.0, 0.0)
override fun getCarState(anglesDistances: Map<Int, Double>): CarState { override fun getCarState(anglesDistances: Map<Int, Double>): CarState {
val dist0 = anglesDistances[0] val dist0 = anglesDistances[0]
val dist90 = anglesDistances[90] val dist90 = anglesDistances[90]
@@ -117,7 +116,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
if (Math.abs(dist120 - dist60) > 10) { if (Math.abs(dist120 - dist60) > 10) {
val rotationDirection = if (dist120 > dist60) LEFT else RIGHT val rotationDirection = if (dist120 > dist60) LEFT else RIGHT
resultBuilder.setDirections(getIntArray(rotationDirection)) resultBuilder.setDirections(getIntArray(rotationDirection))
resultBuilder.setTimes(getIntArray((3.0 / ROTATION_VELOCITY).toInt())) resultBuilder.setTimes(getIntArray((4 * 3.0 / ROTATION_VELOCITY).toInt()))//todo calibrate
return resultBuilder.build() return resultBuilder.build()
} }