iceflower/speed-dreams-code
1
0
Fork 0
forked from speed-dreams/speed-dreams-code
Code Pull requests Activity

Upgrade simplix_indy

Browse source 
git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@2877 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 34e89b31552cba63990c8338dce570b7ac3911e1
Former-commit-id: 8ef94cb95da0e5b5c8dce48f237ede128c5199be
This commit is contained in:
wdbee 2010-10-13 19:47:08 +00:00
parent 320b3fdd68
commit 4416c4a255
4 changed files with 182 additions and 24 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

17
src/drivers/simplix/simplix_gp1600/simplix_gp1600.xml
View file

@ -1,9 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--
file : simplix_gp1600.xml
created : 16 May 2009
last modified : 16 May 2009
copyright : (C) 2009 Wolf-Dieter Beelitz
created : 12 Oct 2010
last modified : 12 Oct 2010
copyright : (C) 2010 Wolf-Dieter Beelitz
-->
<!-- This program is free software; you can redistribute it and/or modify -->
@ -41,7 +41,7 @@
<attnum name="blue" val="1.0"></attnum>
</section>
<section name="2">
<section name="2">
<attstr name="name" val="gp1600_C"></attstr>
<attstr name="desc" val="gp1600_C"></attstr>
<attstr name="team" val="simplix_gp1600A"></attstr>
@ -53,7 +53,7 @@
<attnum name="blue" val="1.0"></attnum>
</section>
<section name="3">
<section name="3">
<attstr name="name" val="gp1600_D"></attstr>
<attstr name="desc" val="gp1600_D"></attstr>
<attstr name="team" val="simplix_gp1600A"></attstr>
@ -65,7 +65,7 @@
<attnum name="blue" val="1.0"></attnum>
</section>
<section name="4">
<section name="4">
<attstr name="name" val="gp1600_E"></attstr>
<attstr name="desc" val="gp1600_E"></attstr>
<attstr name="team" val="simplix_gp1600B"></attstr>
@ -77,7 +77,7 @@
<attnum name="blue" val="1.0"></attnum>
</section>
<section name="5">
<section name="5">
<attstr name="name" val="gp1600_F"></attstr>
<attstr name="desc" val="gp1600_F"></attstr>
<attstr name="team" val="simplix_gp1600B"></attstr>
@ -88,8 +88,7 @@
<attnum name="green" val="0.4"></attnum>
<attnum name="blue" val="1.0"></attnum>
</section>
<!--
-->
</section>
</section>
</params>

177
src/drivers/simplix/simplix_indy/mpa1-murasama/default.xml
View file

@ -1,8 +1,8 @@
<?xml version="1.0" encoding="iso-8859-1"?>
<!--
file : default.xml
created : 16 May 2009
last modified : 16 May 2009
created : 12 Oct 2009
last modified : 12 Oct 2009
copyright : (C) 2009 Wolf-Dieter Beelitz
SIMPLIX_INDY - INDYCAR01
@ -13,22 +13,179 @@
<!-- (at your option) any later version. -->
<!DOCTYPE params SYSTEM "../../../src/libs/tgf/params.dtd">
<params name="indycar01" type="template" mode="mw">
<!-- Car parameters >>> -->
<section name="Front Wing">
<attnum name="angle" unit="deg" min="0" max="29" val="15"/>
</section>
<section name="Rear Wing">
<attnum name="angle" unit="deg" min="0" max="29" val="12"/>
</section>
<section name="Gearbox">
<attnum name="shift time" val="0.05" unit="s"/>
<section name="gears">
<section name="r">
<attnum name="ratio" min="-3" max="0" val="-2"/>
</section>
<section name="1">
<attnum name="ratio" min="0" max="5" val="4.05175"/>
</section>
<section name="2">
<attnum name="ratio" min="0" max="5" val="2.87955"/>
</section>
<section name="3">
<attnum name="ratio" min="0" max="5" val="2.25875"/>
</section>
<section name="4">
<attnum name="ratio" min="0" max="5" val="1.87478"/>
</section>
<section name="5">
<attnum name="ratio" min="0" max="5" val="1.61411"/>
</section>
<section name="6">
<attnum name="ratio" min="0" max="5" val="1.42578"/>
</section>
</section>
<section name="Rear Differential">
<attstr name="type" in="SPOOL,FREE,LIMITED SLIP" val="LIMITED SLIP"/>
<attnum name="ratio" min="0" max="10" val="4.5"/>
</section>
<section name="Brake System">
<attnum name="front-rear brake repartition" min="0.3" max="0.7" val="0.55"/>
<attnum name="max pressure" unit="kPa" min="100" max="150000" val="50000"/>
</section>
<section name="Front Right Wheel">
<attnum name="ride height" unit="mm" min="100" max="300" val="50"/>
<attnum name="toe" unit="deg" min="-5" max="5" val="-0.5"/>
<attnum name="camber" min="-5" max="0" unit="deg" val="-5"/>
</section>
<section name="Front Left Wheel">
<attnum name="ride height" unit="mm" min="100" max="300" val="50"/>
<attnum name="toe" unit="deg" min="-5" max="5" val="0.5"/>
<attnum name="camber" min="-5" max="0" unit="deg" val="-5"/>
</section>
<section name="Rear Right Wheel">
<attnum name="ride height" unit="mm" min="100" max="300" val="80"/>
<attnum name="toe" unit="deg" min="-5" max="5" val="0"/>
<attnum name="camber" min="-5" max="0" unit="deg" val="-5"/>
</section>
<section name="Rear Left Wheel">
<attnum name="ride height" unit="mm" min="100" max="300" val="80"/>
<attnum name="toe" unit="deg" min="-5" max="5" val="0"/>
<attnum name="camber" min="-5" max="0" unit="deg" val="-5"/>
</section>
<section name="Front Anti-Roll Bar">
<attnum name="spring" unit="lbs/in" min="0" max="5000" val="1000"/>
<attnum name="suspension course" unit="m" min="0" max="0.2" val="0.1"/>
<attnum name="bellcrank" min="1" max="5" val="2.5"/>
</section>
<section name="Rear Anti-Roll Bar">
<attnum name="spring" unit="lbs/in" min="0" max="5000" val="300"/>
<attnum name="suspension course" unit="m" min="0" max="0.2" val="0.1"/>
<attnum name="bellcrank" min="1" max="5" val="2.5"/>
</section>
<section name="Front Right Suspension">
<attnum name="spring" unit="lbs/in" min="0" max="10000" val="3500"/>
<attnum name="suspension course" unit="m" min="0" max="0.2" val="0.08"/>
<attnum name="bellcrank" min="0.1" max="5" val="1.2"/>
<attnum name="packers" unit="mm" min="0" max="10" val="0"/>
<attnum name="slow bump" unit="lbs/in/s" min="0" max="1000" val="80"/>
<attnum name="slow rebound" unit="lbs/in/s" min="0" max="1000" val="80"/>
<attnum name="fast bump" unit="lbs/in/s" min="0" max="1000" val="50"/>
<attnum name="fast rebound" unit="lbs/in/s" min="0" max="1000" val="50"/>
</section>
<section name="Front Left Suspension">
<attnum name="spring" unit="lbs/in" min="0" max="10000" val="3500"/>
<attnum name="suspension course" unit="m" min="0" max="0.2" val="0.08"/>
<attnum name="bellcrank" min="0.1" max="5" val="1.2"/>
<attnum name="packers" unit="mm" min="0" max="10" val="0"/>
<attnum name="slow bump" unit="lbs/in/s" min="0" max="1000" val="80"/>
<attnum name="slow rebound" unit="lbs/in/s" min="0" max="1000" val="80"/>
<attnum name="fast bump" unit="lbs/in/s" min="0" max="1000" val="50"/>
<attnum name="fast rebound" unit="lbs/in/s" min="0" max="1000" val="50"/>
</section>
<section name="Rear Right Suspension">
<attnum name="spring" unit="lbs/in" min="0" max="10000" val="5500"/>
<attnum name="suspension course" unit="m" min="0" max="0.2" val="0.14"/>
<attnum name="bellcrank" min="0.1" max="5" val="1.5"/>
<attnum name="packers" unit="mm" min="0" max="10" val="0"/>
<attnum name="slow bump" unit="lbs/in/s" min="0" max="1000" val="80"/>
<attnum name="slow rebound" unit="lbs/in/s" min="0" max="1000" val="80"/>
<attnum name="fast bump" unit="lbs/in/s" min="0" max="1000" val="50"/>
<attnum name="fast rebound" unit="lbs/in/s" min="0" max="1000" val="50"/>
</section>
<section name="Rear Left Suspension">
<attnum name="spring" unit="lbs/in" min="0" max="10000" val="5500"/>
<attnum name="suspension course" unit="m" min="0" max="0.2" val="0.14"/>
<attnum name="bellcrank" min="0.1" max="5" val="1.5"/>
<attnum name="packers" unit="mm" min="0" max="10" val="0"/>
<attnum name="slow bump" unit="lbs/in/s" min="0" max="1000" val="80"/>
<attnum name="slow rebound" unit="lbs/in/s" min="0" max="1000" val="80"/>
<attnum name="fast bump" unit="lbs/in/s" min="0" max="1000" val="50"/>
<attnum name="fast rebound" unit="lbs/in/s" min="0" max="1000" val="50"/>
</section>
</section>
<!-- <<< Car parameters -->
<!-- Robot parameters >>> -->
<section name="simplix private">
<!-- Use this parameters to test the car's pitting -->
<attnum name="pit test stop" min="0" max="1" val="0"/>
<attnum name="qualification" min="0" max="1" val="0"/>
<attnum name="reserve" min="0.0" max="20000.0" val="2000"/>
<!-- Use this parameters to setup the car's fuel strategy -->
<attnum name="reserve" unit="m" min="0.0" max="20000.0" val="2000"/>
<attnum name="start fuel" min="-1" max="100.0" val="-1"/>
<attnum name="fuelper100km" min="1.0" max="100.0" val="60.0"/>
<!-- Use the parameters below to tune the robots detection
of changes in the track's height -->
<attnum name="scale bump" min="0.0" max="2.0" val="0.6"/>
<attnum name="scale bump outer" min="0.0" max="2.0" val="0.8"/>
<!-- Use the parameters below to tune the robots
detection of the car's limits -->
<attnum name="accel out" min="0" max="1" val="0"/>
<attnum name="tcl slip" min="1.0" max="10.0" val="3.3"/>
<attnum name="lookaheadfactor" min="0.0" max="0.5" val="0.05"/>
<attnum name="scale steer" min="0.1" max="2.0" val="1.0"/>
<attnum name="brake limit" val="-18.0"/>
<attnum name="scale brake" min="0" max="1" val="1.00"/>
<attnum name="scale mu" min="0" max="5" val="1.00"/>
<!-- Use the parameters below to tune the robots
detection of the car's limits while qualification -->
<attnum name="qualy brake" min="0" max="1" val="1.00"/>
<attnum name="qualy mu" min="0" max="2" val="1.00"/>
<!-- Do not change the parameters below
unless you really know what you are doing -->
<attnum name="length margin" min="1.0" max="10.0" val="3.0"/>
<attnum name="avoid width" min="0.0" max="3.0" val="0.5"/>
<attnum name="scale avoid" min="1.0" max="20.0" val="10.0"/>
<attnum name="scale brake" min="0" max="1" val="0.40"/>
<attnum name="scale bump" min="0" max="1" val="0.1"/>
<attnum name="scale bump outer" min="0" max="2" val="0.1"/>
<attnum name="scale avoid" min="1.0" max="20.0" val="15.0"/>
<attnum name="scale min mu" min="0.1" max="1.0" val="0.8"/>
<attnum name="scale mu" min="0" max="2" val="0.65"/>
<attnum name="scale steer" min="0.1" max="2.0" val="0.8"/>
<attnum name="stay together" min="10.0" max="2000.0" val="10"/>
<attnum name="length margin" min="1.0" max="10.0" val="2.0"/>
</section>
<!-- <<< Robot parameters -->
</params>

6
src/drivers/simplix/src/unitdriver.cpp
View file

@ -3455,8 +3455,7 @@ double TDriver::CalcCrv_simplix_TRB1(double Crv)
//--------------------------------------------------------------------------*
double TDriver::CalcCrv_simplix_INDY(double Crv)
{
return MAX(0.75,MIN(3.0,350000.0 * Crv * Crv * Crv));
//return MAX(0.75,MIN(3.0,600000.0 * Crv * Crv * Crv));
return 1.0;
}
//==========================================================================*
@ -3548,8 +3547,7 @@ double TDriver::CalcHairpin_simplix_TRB1(double Crv)
//--------------------------------------------------------------------------*
double TDriver::CalcHairpin_simplix_INDY(double Crv)
{
return MAX(0.75,MIN(5.0,300000.0 * Crv * Crv * Crv));
//return MAX(0.75,MIN(5.0,600000.0 * Crv * Crv * Crv));
return 1.0;
}
//==========================================================================*

6
src/drivers/simplix/src/unitmain.cpp
View file

@ -257,6 +257,9 @@ void SetUpSimplix_indy()
{
cRobotType = RTYPE_SIMPLIX_INDY;
SetParameters(NBBOTS, "indycar01");
TDriver::AdvancedParameters = true;
TDriver::UseBrakeLimit = true;
TDriver::Learning = true;
};
//==========================================================================*
@ -402,7 +405,7 @@ int moduleWelcomeV1_00
SetUpSimplix_sc();
else if (strncmp(RobName,"simplix_36GP",strlen("simplix_36GP")) == 0)
SetUpSimplix_36GP();
else if (strncmp(RobName,"simplix_INDY",strlen("simplix_INDY")) == 0)
else if (strncmp(RobName,"simplix_indy",strlen("simplix_indy")) == 0)
SetUpSimplix_indy();
else if (strncmp(RobName,"simplix_LS1",strlen("simplix_LS1")) == 0)
SetUpSimplix_ls1();
@ -643,6 +646,7 @@ static int InitFuncPt(int Index, void *Pt)
else if (cRobotType == RTYPE_SIMPLIX_INDY)
{
GfOut("#cRobotType == RTYPE_SIMPLIX_INDY\n");
// cInstances[Index-IndexOffset].cRobot->CalcFrictionFoo = &TDriver::CalcFriction_simplix_TRB1;
cInstances[Index-IndexOffset].cRobot->CalcFrictionFoo = &TDriver::CalcFriction_simplix;
cInstances[Index-IndexOffset].cRobot->CalcCrvFoo = &TDriver::CalcCrv_simplix_INDY;
cInstances[Index-IndexOffset].cRobot->CalcHairpinFoo = &TDriver::CalcHairpin_simplix_INDY;