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Changed the pheromone sensing a bit.

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Wally Hackenslacker
2016-06-28 18:40:02 -04:00
parent fecc196ae7
commit f00a32284c
1 changed files with 4 additions and 4 deletions
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8
pheromone.cpp
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@@ -214,14 +214,14 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
index = static_cast<unsigned int>((NUM_PHERO_SAMPLES / 2.0f) - ang); index = static_cast<unsigned int>((NUM_PHERO_SAMPLES / 2.0f) - ang);
index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index; index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index;
if(MAP_POS(i, j) > sensor->samples[index]) { if(MAP_POS(i, j) > sensor->samples[index]) {
sensor->samples[index] += MAP_POS(i, j); sensor->samples[index] = MAP_POS(i, j);
sensor->sample_amnt[index] += 1; sensor->sample_amnt[index] += 1;
} }
} else { } else {
index = static_cast<unsigned int>((NUM_PHERO_SAMPLES / 2.0f) + ang); index = static_cast<unsigned int>((NUM_PHERO_SAMPLES / 2.0f) + ang);
index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index; index = index >= NUM_PHERO_SAMPLES ? NUM_PHERO_SAMPLES - 1 : index;
if(MAP_POS(i, j) > sensor->samples[index]) { if(MAP_POS(i, j) > sensor->samples[index]) {
sensor->samples[index] += MAP_POS(i, j); sensor->samples[index] = MAP_POS(i, j);
sensor->sample_amnt[index] += 1; sensor->sample_amnt[index] += 1;
} }
} }
@@ -231,8 +231,8 @@ void PheromoneMap::s_sample(phero_sensor_t * sensor, float x, float y, float yaw
} }
} sem_post(&map_semaphore); } sem_post(&map_semaphore);
for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) { /*for(unsigned int i = 0; i < NUM_PHERO_SAMPLES; i++) {
sensor->samples[i] = (sensor->sample_amnt[i] > 0) ? (sensor->samples[i] / sensor->sample_amnt[i]) : 0.0f; sensor->samples[i] = (sensor->sample_amnt[i] > 0) ? (sensor->samples[i] / sensor->sample_amnt[i]) : 0.0f;
} }*/
} }
} }