WallyHackenslacker/IAS-SS
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Almost there...

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Wally Hackenslacker
2016-06-27 16:15:10 -04:00
parent fdfe955787
commit cecd37420d
7 changed files with 79 additions and 31 deletions
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16
ias_robot.cpp
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@@ -36,7 +36,7 @@ static const long HALF_SECOND_USEC = 500000;
static const double MIN_DIST_M = 1.5;
static const double CRIT_DIST_M = 1.0;
static const float MAP_SIZE = 16.0f;
static const int PHERO_AMOUNT = 10;
static const int PHERO_AMOUNT = 25;
static const float PHERO_RADIUS = 1.0;
static const float SENSOR_RADIUS = 2.0;
@@ -59,13 +59,17 @@ void IASSS_Robot::run() {
int rv;
long then, now, delta, wait;
struct timeval tv;
double dist = std::numeric_limits<double>::infinity();
double dist = std::numeric_limits<double>::infinity();
_p_client->Read();
rv = gettimeofday(&tv, NULL);
then = tv.tv_usec;
x = (_p_proxy->GetXPos() + (MAP_SIZE / 2)) / MAP_SIZE;
y = (_p_proxy->GetYPos() + (MAP_SIZE / 2)) / MAP_SIZE;
_phero_map->s_sample(&_phero_sensor, x, y, _p_proxy->GetYaw(), SENSOR_RADIUS / MAP_SIZE);
/******************************************************************************
* WALL AVOIDANCE START *
******************************************************************************/
@@ -75,17 +79,13 @@ void IASSS_Robot::run() {
if(dist < MIN_DIST_M && dist > CRIT_DIST_M) {
avoid_wall(METERS_PER_SEC, TURN_DEG_PER_SEC);
} else if(dist < CRIT_DIST_M) {
} else if(dist <= CRIT_DIST_M) {
avoid_wall(0.0f, TURN_DEG_PER_SEC);
} else
_p_proxy->SetSpeed(METERS_PER_SEC, 0.0f);
/******************************************************************************
* WALL AVOIDANCE END *
******************************************************************************/
x = (_p_proxy->GetXPos() + (MAP_SIZE / 2)) / MAP_SIZE;
y = (_p_proxy->GetYPos() + (MAP_SIZE / 2)) / MAP_SIZE;
_phero_map->s_sample(&_phero_sensor, x, y, _p_proxy->GetYaw(), SENSOR_RADIUS / MAP_SIZE);
deposit_pheromone();
@@ -109,7 +109,7 @@ void IASSS_Robot::avoid_wall(float front_speed, float turn_speed) {
for(unsigned int i = 126; i < _r_proxy->GetRangeCount(); i++)
dist_l += _r_proxy->GetRange(i);
dist_l /= (_r_proxy->GetRangeCount() - 126);
if(dist_r >= dist_l)
_p_proxy->SetSpeed(front_speed, PlayerCc::dtor(-turn_speed));
else