Category : Recently Uploaded Files
Archive : RARS03.ZIP
Filename : CNTRL2.CPP
Output of file : CNTRL2.CPP contained in archive : RARS03.ZIP
// (see CNTRL0.CPP for better comments)
#include
#include
#include
#include "car.h"
extern const double CARWID;
extern char* glob_name;
con_vec cntrl2(situation s)
{
const char name[] = "Ritchie";
static int init_flag = 1;
con_vec result;
double alpha, vc;
double width; // track width, feet
double steer_gain = .18;
const double steer_damp = .48;
static int lane_time = 0; // counts time when not in normal lane
const double normalane = 60.0;
static double lane = 60; // determines right-left position on straigtaway
const double corn_con = 6.4;
static double corn_spd = 55.0;
if(init_flag) {
strcpy(glob_name, name);
init_flag = 0;
result.alpha = result.vc = 0;
return result;
}
if(s.out) { // no action when out of race
result.vc = result.alpha = 0.0;
return result;
}
// get unstuck from goofy situation:
if(s.v < 15.0) { // totally different control when speed is very slow:
alpha = .05 * (steer_gain * (s.to_lft-s.to_rgt) - steer_damp * s.vn/s.v);
if(alpha > .05)
alpha = .05;
else if(alpha < -.05)
alpha = -.05;
vc = .5 * (s.v + 16); // accelerate toward 16 fps
if(s.to_lft < 0.0) { // maybe reverse:
if(s.vn > .7 * s.v) // (cause you are heading off the track)
vc = -vc;
}
else if(s.to_rgt < 0.0)
if(s.vn <-.7 * s.v)
vc = -vc;
result.vc = vc; result.alpha = alpha;
return result;
}
if(s.cur_rad == 0.0 && s.nex_rad != 0.0)
corn_spd = corn_con * sqrt(s.nex_rad > 0.0 ? s.nex_rad : -s.nex_rad);
else
corn_spd = corn_con * sqrt(s.cur_rad > 0.0 ? s.cur_rad : -s.cur_rad);
// maybe choose a different lane: (to help in passing)
if(!s.dead_ahead) {
if(lane_time <= 0) {
lane = normalane;
lane_time = 0;
}
}
else if(!lane_time) {
// pick a different lane:
if(lane >= 80) // pick a new lane somehow:
lane = random(60) - 20;
else if(lane <= -80)
lane = 20 - random(60);
else
lane = random(180) - 90;
lane_time = 175; // we will stay in the new lane this long
}
if(lane_time > 0)
--lane_time;
width = s.to_lft + s.to_rgt; // find width of track
if(s.cur_rad == 0)
alpha = .25 * steer_gain * (s.to_lft - s.to_rgt - lane) / width;
else if(s.cur_rad > 0)
alpha = steer_gain * (4 * (s.to_lft-1.6*CARWID) / width
+ .2 * width/s.to_rgt);
else
alpha = -steer_gain * (4 * (s.to_rgt-1.6*CARWID) / width
+ .2 * width/s.to_lft);
alpha -= steer_damp * s.vn / s.v; // This is damping, to prevent oscillation
if(s.cur_rad == 0) // If we are on a straightaway,
if(s.to_end/s.cur_len > .38) // if we are far from the end:
vc = s.v + 100/s.v; // keep accellerating near full power
else { // otherwise,
// maintain cornering speed, braking at first
vc = corn_spd + 9.0 * s.to_end/s.cur_len;
// this next formala will not work if a rt. turn follows the straight:
alpha += .4 * (s.cur_len/(s.to_end + s.cur_len) - (1/1.38));
}
else // if we're in the curve, maintain speed, +
vc = corn_spd + .9 / (s.to_end + .4);
result.vc = vc; result.alpha = alpha;
return result;
} // v;
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