public override Action Control(ISensorModel sensorModel)
{
Action action = new Action();
if(sensorModel.GetSpeed() < TargetSpeed)
{
action.Accelerate = 1;
}
if(sensorModel.GetAngleToTrackAxis() < 0)
{
action.Steering = -0.1f;
}
else
{
action.Steering = 0.1f;
}
action.Gear = 1;
return action;
}
public override Action Control(ISensorModel sensorModel)
{
// check if car is currently stuck
if (Math.Abs(sensorModel.GetAngleToTrackAxis()) > StuckAngle)
{
// update stuck counter
stuck++;
}
else
{
// if not stuck reset stuck counter
stuck = 0;
}
// after car is stuck for a while apply recovering policy
if (stuck > StuckTime)
{
/* set gear and sterring command assuming car is
* pointing in a direction out of track */
// to bring car parallel to track axis
float steer = (float)(-sensorModel.GetAngleToTrackAxis() / SteerLock);
int gear = -1; // Gear R
// if car is pointing in the correct direction revert gear and steer
if (sensorModel.GetAngleToTrackAxis() * sensorModel.GetTrackPosition() > 0)
{
gear = 1;
steer = -steer;
}
clutch = Clutching(sensorModel, clutch);
// build a CarControl variable and return it
Action action = new Action();
action.Gear = gear;
action.Steering = steer;
action.Accelerate = 1.0f;
action.Brake = 0;
action.Clutch = clutch;
return action;
}
else // car is not stuck
{
// compute accel/brake command
float accelAndBrake = GetAccel(sensorModel);
// compute gear
int gear = GetGear(sensorModel);
// compute steering
float steer = GetSteer(sensorModel);
// normalize steering
if (steer < -1)
{
steer = -1;
}
if(steer > 1)
{
steer = 1;
}
// set accel and brake from the joint accel/brake command
float accel, brake;
if(accelAndBrake > 0)
{
accel = accelAndBrake;
brake = 0;
}
else
{
accel = 0;
// apply ABS to brake
brake = FilterAbs(sensorModel, -accelAndBrake);
}
clutch = Clutching(sensorModel, clutch);
// build a CarControl variable and return it
Action action = new Action();
action.Gear = gear;
action.Steering = steer;
action.Accelerate = accel;
action.Brake = brake;
action.Clutch = clutch;
return action;
}
}
private float GetSteer(ISensorModel model)
{
// steering angle is compute by correcting the actual car angle w.r.t. to track
// axis [sensors.getAngle()] and to adjust car position w.r.t to middle of track [sensors.getTrackPos()*0.5]
float targetAngle = (float)(model.GetAngleToTrackAxis() - model.GetTrackPosition() * 0.5f);
// at high speed reduce the steering command to avoid loosing the control
if (model.GetSpeed() > SteerSensitivityOffset)
{
return (float)(targetAngle / (SteerLock * (model.GetSpeed() - SteerSensitivityOffset) * WheelSensitivityCoeff));
}
else
{
return (targetAngle) / SteerLock;
}
}
