diff --git a/src/drivers/simplix/simplix_gp1600/simplix_gp1600.xml b/src/drivers/simplix/simplix_gp1600/simplix_gp1600.xml
index a23ed88b..f2530e08 100644
--- a/src/drivers/simplix/simplix_gp1600/simplix_gp1600.xml
+++ b/src/drivers/simplix/simplix_gp1600/simplix_gp1600.xml
@@ -1,9 +1,9 @@
@@ -41,7 +41,7 @@
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+
-
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diff --git a/src/drivers/simplix/simplix_indy/mpa1-murasama/default.xml b/src/drivers/simplix/simplix_indy/mpa1-murasama/default.xml
index 9a7d68c1..a647bd1e 100644
--- a/src/drivers/simplix/simplix_indy/mpa1-murasama/default.xml
+++ b/src/drivers/simplix/simplix_indy/mpa1-murasama/default.xml
@@ -1,8 +1,8 @@
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diff --git a/src/drivers/simplix/src/unitdriver.cpp b/src/drivers/simplix/src/unitdriver.cpp
index aaca8b80..b99a48bd 100644
--- a/src/drivers/simplix/src/unitdriver.cpp
+++ b/src/drivers/simplix/src/unitdriver.cpp
@@ -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;
}
//==========================================================================*
diff --git a/src/drivers/simplix/src/unitmain.cpp b/src/drivers/simplix/src/unitmain.cpp
index 1cafcec6..6ad7e1a6 100644
--- a/src/drivers/simplix/src/unitmain.cpp
+++ b/src/drivers/simplix/src/unitmain.cpp
@@ -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;