Added dandroid_srw and adapted gear switching

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6329 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 583e4d3d98e1023badcbc09c1311caeb9e67aebc
Former-commit-id: e0fda7d1294ab9a6235120332eb58013eb2c8615

src/drivers/dandroid/CMakeLists.txt

@@ -37,7 +37,7 @@ SET(ROBOT_SOURCES
 
 # Official-only dandroid instances.
 SET(ROBOT_CLONES dandroid_36GP dandroid_67GP dandroid_lp1 dandroid_ls1 dandroid_ls2 dandroid_mpa1
-                 dandroid_mpa11 dandroid_mpa12 dandroid_rs dandroid_sc dandroid_trb1)
+                 dandroid_mpa11 dandroid_mpa12 dandroid_rs dandroid_sc dandroid_srw dandroid_trb1)
 
 # The ubiquitous robot module and its clones.
 ROBOT_MODULE(NAME ${ROBOT_NAME} VERSION 2.0.0 SOVERSION 1.0.0

src/drivers/dandroid/src/driver.cpp

@@ -83,6 +83,7 @@ TDriver::TDriver(int index)
   mOfftrackInSector = false;
   mLearnedAll = false;
   mShiftTimer = 0;
+  mGear = 0;
   mAccelX = 0.0;
   mAccelXSum = 0.0;
   mAccelXCount = 0;
@@ -695,6 +696,11 @@ double TDriver::getAccel(double maxspeed)
     }
     accel = mSkillDriver * mAccel;
   }
+  if (oCurrSimTime < 0.0) {
+    if (oCar->_enginerpm / oCar->_enginerpmRedLine > 0.7) {
+      accel = 0.0;
+    }
+  }
   return accel;
 }
 
@@ -733,26 +739,29 @@ int TDriver::getGear()
     }
   }  
   if (mShiftTimer < shifttime) {
-    return oCar->_gear;
+    return mGear;
   }
   
+  if (oCurrSimTime < 0.0) {
+    return mGear = 0;
+  }
   if (mDrvState == STATE_STUCK) {
-    return -1;
+    return mGear = -1;
   }
   if (oCar->_gear <= 0) {
-    return 1;
+    return mGear = 1;
   }
   if (oCar->_enginerpm / oCar->_enginerpmRedLine > SHIFT_UP) {
     mShiftTimer = 0;
-    return oCar->_gear + 1;
+    return mGear++;
   } else {
     double ratiodown = oCar->_gearRatio[oCar->_gear + oCar->_gearOffset - 1] / oCar->_gearRatio[oCar->_gear + oCar->_gearOffset];
     if (oCar->_gear > 1 && (oCar->_enginerpmRedLine - SHIFT_DOWN_MARGIN) / oCar->_enginerpm > ratiodown) {
       mShiftTimer = 0;
-      return oCar->_gear - 1;
+      return mGear--;
     }
   }
-  return oCar->_gear;
+  return mGear;
 }
 
 

src/drivers/dandroid/src/driver.h

@@ -195,6 +195,7 @@ class TDriver {
   double mOldTimer;
   bool mTenthTimer;
   int mShiftTimer;
+  int mGear;
   bool mStuck;
   int mStuckcount;
   bool mStateChange;