private static void Timer1Elapsed(object sender, ElapsedEventArgs e)
{
Memory.Update();
_bunnyJump.Update();
_sonar.Update();
_triggerBot.Update();
_rcs.Update();
KeyUtils.Update();
}
public override void Observation()
{
Sonar.RelativeAngle = Angle;
Sonar.Update(new PointF((float)X, (float)Y));
double l = 0, r = 0;
WheelRotationAmountCalculation(ref l, ref r);
rotl = (Inertia) * rotl + (1 - Inertia) * l;
rotr = (Inertia) * rotr + (1 - Inertia) * r;
double n = Math.Sqrt(rotl * rotl + rotr * rotr);
if (n > Rotmax)
{
rotl /= n; rotr /= n;
}
UpdateRotation(rotl, rotr);
}