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- Update Shadow's driver

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git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6038 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 7dc793209dab799c9008fa094e866e5fe2ada541
Former-commit-id: 9415c97bf554285be1f7abeadbecb5c3d4b1a018
This commit is contained in:
torcs-ng 2015-07-05 17:16:46 +00:00
parent 30148cff87
commit 6a1eb0f26d
2 changed files with 34 additions and 1 deletions
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32
src/drivers/shadow/src/Driver.cpp
View file

@ -186,6 +186,7 @@ TDriver::TDriver(int Index, const int robot_type):
m_lastB(0), m_lastB(0),
m_lastBrk(0), m_lastBrk(0),
m_lastTargV(0), m_lastTargV(0),
m_maxbrkPressRatio(0.85),
m_maxAccel(0, 150, 30, 1), m_maxAccel(0, 150, 30, 1),
m_steerGraph(2, s_sgMin, s_sgMax, s_sgSteps, 0), m_steerGraph(2, s_sgMin, s_sgMax, s_sgSteps, 0),
m_steerAvg(19, 0.001, 0.02, 15, 20, 95), m_steerAvg(19, 0.001, 0.02, 15, 20, 95),
@ -1413,6 +1414,34 @@ void TDriver::SpeedControl5( double targetSpd, double spd0, tCarElt* car, double
} }
} }
void TDriver::SpeedControl6( double targetSpd, double spd0, tCarElt* car, double& acc, double& brk )
{
int B = (int) MIN(NBR_BRAKECOEFF,(floor(spd0/2)));
double Diff = 2 * m_brkCoeff[B] * (spd0 - targetSpd);
brk = m_speedController.Sample(Diff*Diff*Diff);
brk = MIN(m_maxbrkPressRatio,MAX(0.0, brk));
if (Diff < 0)
{
brk = 0;
}
else if ((brk > 0) && (Diff < 0.1))
{
brk = 0;
acc = 0.06;
}
if (brk > 0)
{
acc = 0;
LogSHADOW.debug("#Diff: %.3f m/s B: %.3f %% T: %.1f R: %.3f %%\n",
Diff, brk*100, m_speedController.m_total, m_maxbrkPressRatio);
}
m_lastTargV = targetSpd;
}
void TDriver::SpeedControl(int which, double targetSpd, double spd0, CarElt* car, double& acc, double& brk ) void TDriver::SpeedControl(int which, double targetSpd, double spd0, CarElt* car, double& acc, double& brk )
{ {
switch( which ) switch( which )
@ -1423,6 +1452,7 @@ void TDriver::SpeedControl(int which, double targetSpd, double spd0, CarElt* car
case 3: SpeedControl3(targetSpd, spd0, acc, brk); break; case 3: SpeedControl3(targetSpd, spd0, acc, brk); break;
case 4: SpeedControl4(targetSpd, spd0, car, acc, brk); break; case 4: SpeedControl4(targetSpd, spd0, car, acc, brk); break;
case 5: SpeedControl5(targetSpd, spd0, car, acc, brk); break; case 5: SpeedControl5(targetSpd, spd0, car, acc, brk); break;
case 6: SpeedControl6(targetSpd, spd0, car, acc, brk); break;
default: SpeedControl3(targetSpd, spd0, acc, brk); break; default: SpeedControl3(targetSpd, spd0, acc, brk); break;
} }
} }
@ -2394,7 +2424,7 @@ void TDriver::initBrake()
LogSHADOW.info("#################################\n"); LogSHADOW.info("#################################\n");
float MaxPressRatio = GfParmGetNum(car->_carHandle, SECT_PRIV, float MaxPressRatio = GfParmGetNum(car->_carHandle, SECT_PRIV,
PRV_MAX_BRAKING, (char*)NULL, (float) BrakeMaxPressRatio); PRV_MAX_BRAKING, (char*)NULL, (float) m_maxbrkPressRatio);
LogSHADOW.debug("#Shadow2 Max press ratio : %0.7f\n", MaxPressRatio); LogSHADOW.debug("#Shadow2 Max press ratio : %0.7f\n", MaxPressRatio);
float BrakeCoeffFront = (float) (DiameterFront * 0.5 * AreaFront * MuFront); float BrakeCoeffFront = (float) (DiameterFront * 0.5 * AreaFront * MuFront);

3
src/drivers/shadow/src/Driver.h
View file

@ -183,6 +183,8 @@ public:
double& acc, double& brk ); double& acc, double& brk );
void SpeedControl5(double targetSpd, double spd0, CarElt* car, void SpeedControl5(double targetSpd, double spd0, CarElt* car,
double& acc, double& brk ); double& acc, double& brk );
void SpeedControl6(double targetSpd, double spd0, CarElt* car,
double& acc, double& brk );
void SpeedControl( int which, double targetSpd, double spd0, void SpeedControl( int which, double targetSpd, double spd0,
CarElt* car, double& acc, double& brk ); CarElt* car, double& acc, double& brk );
@ -418,6 +420,7 @@ private:
int m_lastB; int m_lastB;
double m_lastBrk; double m_lastBrk;
double m_lastTargV; double m_lastTargV;
double m_maxbrkPressRatio;
LearnedGraph m_maxAccel; LearnedGraph m_maxAccel;
double m_angle[SPD_N][K_N]; double m_angle[SPD_N][K_N];