From 82248dabd8132a769814a0e6cfcd40a80b186232 Mon Sep 17 00:00:00 2001 From: wdbee Date: Tue, 12 Oct 2010 19:15:22 +0000 Subject: [PATCH] Upgrade simplix_gp1600 git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@2871 30fe4595-0a0c-4342-8851-515496e4dcbd Former-commit-id: df92b1ed3d8c8339f300b926f81ec950f6fbdb16 Former-commit-id: 5a551651c7f25bbd5279ebede5f33aa1e754593e --- .../simplix/simplix_gp1600/gp1600/default.xml | 160 ++++++++++++++++-- src/drivers/simplix/src/unitdriver.cpp | 6 +- src/drivers/simplix/src/unitmain.cpp | 11 +- 3 files changed, 158 insertions(+), 19 deletions(-) diff --git a/src/drivers/simplix/simplix_gp1600/gp1600/default.xml b/src/drivers/simplix/simplix_gp1600/gp1600/default.xml index 91238c45..ca56ca90 100644 --- a/src/drivers/simplix/simplix_gp1600/gp1600/default.xml +++ b/src/drivers/simplix/simplix_gp1600/gp1600/default.xml @@ -1,11 +1,11 @@ @@ -13,22 +13,158 @@ + +
+ +
+
+ +
+
+ +
+
+ +
+
+ +
+
+ +
+
+
+ +
+ + +
+ +
+ + +
+ +
+ + + +
+ +
+ + + +
+ +
+ + + +
+ +
+ + + +
+ +
+ + + +
+ +
+ + + +
+ +
+ + + + + + + + +
+ +
+ + + + + + + + +
+ +
+ + + + + + + + +
+ +
+ + + + + + + + +
+ + +
+ - + + + + + + + + + + + + + + + + + + + + + + - - - - + - - - +
+ diff --git a/src/drivers/simplix/src/unitdriver.cpp b/src/drivers/simplix/src/unitdriver.cpp index e2029875..aaca8b80 100644 --- a/src/drivers/simplix/src/unitdriver.cpp +++ b/src/drivers/simplix/src/unitdriver.cpp @@ -3465,8 +3465,7 @@ double TDriver::CalcCrv_simplix_INDY(double Crv) //--------------------------------------------------------------------------* double TDriver::CalcCrv_simplix_GP1600(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; } //==========================================================================* @@ -3569,8 +3568,7 @@ double TDriver::CalcHairpin_simplix_LS1(double Crv) //--------------------------------------------------------------------------* double TDriver::CalcHairpin_simplix_GP1600(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 b7d99352..1cafcec6 100644 --- a/src/drivers/simplix/src/unitmain.cpp +++ b/src/drivers/simplix/src/unitmain.cpp @@ -313,6 +313,9 @@ void SetUpSimplix_gp1600() { cRobotType = RTYPE_SIMPLIX_GP1600; SetParameters(NBBOTS, "gp1600"); + TDriver::AdvancedParameters = true; + TDriver::UseBrakeLimit = true; + TDriver::Learning = true; //TDriver::UseSCSkilling = true; }; //==========================================================================* @@ -404,7 +407,7 @@ int moduleWelcomeV1_00 else if (strncmp(RobName,"simplix_LS1",strlen("simplix_LS1")) == 0) SetUpSimplix_ls1(); else if (strncmp(RobName,"simplix_gp1600",strlen("simplix_gp1600")) == 0) - SetUpSimplix_ls1(); + SetUpSimplix_gp1600(); else SetUpSimplix(); @@ -661,8 +664,8 @@ static int InitFuncPt(int Index, void *Pt) cInstances[Index-IndexOffset].cRobot->CalcFrictionFoo = &TDriver::CalcFriction_simplix; cInstances[Index-IndexOffset].cRobot->CalcCrvFoo = &TDriver::CalcCrv_simplix_GP1600; cInstances[Index-IndexOffset].cRobot->CalcHairpinFoo = &TDriver::CalcHairpin_simplix_GP1600; - cInstances[Index-IndexOffset].cRobot->ScaleSide(0.85f,0.85f); - cInstances[Index-IndexOffset].cRobot->SideBorderOuter(0.75f); + cInstances[Index-IndexOffset].cRobot->ScaleSide(0.95f,0.95f); + cInstances[Index-IndexOffset].cRobot->SideBorderOuter(0.20f); } return 0; @@ -972,6 +975,8 @@ extern "C" int simplix_gp1600(tModInfo *ModInfo) return -1; SetParameters(10, "gp1600"); + TDriver::AdvancedParameters = true; + TDriver::UseBrakeLimit = true; return simplixEntryPoint(ModInfo,RobotSettings); }; //==========================================================================*