public void TickTelemetry(IDataMiner data)
{
bool copyTargetThr = false;
/** VARIABLE SPEED CONTROL **/
var actualSpeed = data.Telemetry.Speed * 3.6;
double thrP, thrI;
if (data.Telemetry.Gear == -1)
{
SetSpeed = Main.GetAxisIn(JoyControls.VstLever) * 50;
actualSpeed *= -1;
thrP = 0.1;
thrI = 0;
}
else
{
SetSpeed = Main.GetAxisIn(JoyControls.VstLever) * ((fast) ? 200 : 100);
thrP = 0.015 + 0.15 * actualSpeed / 120;
thrI = 0.02 - 0.015 * actualSpeed / 120;
if (Efficiency)
{
thrP *= 0.5;
thrI = 0.00025;
}
if (Efficiency != wasEfficiency)
{
copyTargetThr = true;
staticThrError = variableThrottle - 2 * thrP * lastSpeedError;
}
wasEfficiency = Efficiency;
}
var speedErrorThr = SetSpeed - actualSpeed;
staticThrError += speedErrorThr * thrI;
if (staticThrError > 0.8)
{
staticThrError = 0.8;
}
if (staticThrError < -0.8)
{
staticThrError = -0.8;
}
lastSpeedError = speedErrorThr;
var oldThr = variableThrottle;
if (copyTargetThr)
{
variableThrottle = thrP * speedErrorThr;
variableThrottle *= UserThrottle;
// Theoratical value required to copy last throttle
staticThrError = (1 - variableThrottle) / UserThrottle;
//Deduce at low speeds
var deductor = actualSpeed / 50;
if (deductor > 1)
{
deductor = 1;
}
if (deductor < 0.01)
{
deductor = 0.01;
}
staticThrError *= deductor;
// Add it.
variableThrottle += staticThrError;
}
else
{
variableThrottle = thrP * speedErrorThr + staticThrError;
variableThrottle *= UserThrottle;
}
if (variableThrottle > 1)
{
variableThrottle = 1;
}
if (variableThrottle < 0)
{
variableThrottle = 0;
}
var speedErrorBr = (actualSpeed - 3) - SetSpeed;
if (speedErrorBr < 0)
{
speedErrorBr = 0;
}
if (actualSpeed < 50)
{
speedErrorBr *= (50 - actualSpeed) / 15 + 1;
}
variableBrake = 0.01 * speedErrorBr * speedErrorBr;
if (variableBrake > 0.2)
{
variableBrake = 0.2;
}
if (variableBrake < 0)
{
variableBrake = 0;
}
if (variableBrake > 0.01)
{
variableThrottle = 0;
}
/** TRANSMISSION **/
if (Main.Data.Active.Application == "eurotrucks2")
{
var ets2 = (Ets2DataMiner)Main.Data.Active;
if (ets2.MyTelemetry.Job.TrailerAttached == false && !fast)
{
Efficiency = true;
}
else
{
if (Efficiency)
{
if ((SetSpeed - actualSpeed) > 5)
{
Efficiency = false;
}
}
else
{
if ((SetSpeed - actualSpeed) < 2)
{
Efficiency = true;
}
}
}
}
//Efficiency = (SetSpeed - actualSpeed) < 5;
if (DateTime.Now.Subtract(lastShifterTick).TotalMilliseconds > 40)
{
Active = ShiftingPhase == ShiftPhase.None ? false : true;
lastShifterTick = DateTime.Now;
switch (ShiftingPhase)
{
case ShiftPhase.WaitButton:
if (Main.GetButtonIn(JoyControls.GearUp) == false && Main.GetButtonIn(JoyControls.GearDown) == false)
{
ShiftingPhase = ShiftPhase.None;
}
break;
case ShiftPhase.None:
// Reverse pressed?
if (Main.GetButtonIn(JoyControls.VstChange))
{
fast = !fast;
ShiftingPhase = ShiftPhase.WaitButton;
}
if (Main.GetButtonIn(JoyControls.GearDown))
{
Reverse = !Reverse;
ShiftingPhase = ShiftPhase.WaitButton;
}
if (Reverse)
{
if (data.Telemetry.Gear != -1)
{
Gear = -1;
ShiftingPhase = ShiftPhase.OffThrottle;
}
}
else
{
// Do nothing
if (data.Telemetry.Gear != Gear || Gear == 0)
{
if (Gear == 0)
{
Gear++;
}
if (Gear == -1)
{
Gear = 1;
}
ShiftingPhase = ShiftPhase.OffThrottle;
}
else
{
var curPower = Main.Drivetrain.CalculatePower(data.Telemetry.EngineRpm, data.Telemetry.Throttle);
if (curPower < 1)
{
curPower = 1;
}
var curEfficiency = Main.Drivetrain.CalculateFuelConsumption(data.Telemetry.EngineRpm, data.Telemetry.Throttle) / curPower;
var reqPower = curPower * (variableThrottle - 0.5) * 2;
if (reqPower < 25)
{
reqPower = 25;
}
if (reqPower > 0.5 * Main.Drivetrain.CalculateMaxPower())
{
reqPower = 0.5 * Main.Drivetrain.CalculateMaxPower();
}
reqpower = reqPower;
int maxgears = Main.Drivetrain.Gears;
var calcEfficiency = Efficiency ? double.MaxValue : 0;
var calcEfficiencyGear = -1;
var calcThrottle = variableThrottle;
var calcPower = curPower;
var allStalled = true;
for (int k = 0; k < maxgears; k++)
{
if (maxgears >= 12 && (k == 5))
{
continue;
}
if (maxgears >= 10 && (k == 1 || k == 3))
{
continue;
}
if (!Efficiency && k < 3)
{
continue;
}
// Always pick best efficient gear with power requirement met
var rpm = Main.Drivetrain.CalculateRpmForSpeed(k, data.Telemetry.Speed);
var orpm = Main.Drivetrain.CalculateRpmForSpeed(k, data.Telemetry.Speed);
var estimatedPower = Main.Drivetrain.CalculatePower(rpm, variableThrottle);
// RPM increase linear to throttle:
rpm += estimatedPower / 1200 * 190 * variableThrottle;
if (rpm < Main.Drivetrain.StallRpm && k > 0)
{
continue;
}
allStalled = false;
if (orpm > Main.Drivetrain.MaximumRpm)
{
continue;
}
var thr = Main.Drivetrain.CalculateThrottleByPower(rpm, reqPower);
if (thr > 1)
{
thr = 1;
}
if (thr < 0)
{
thr = 0;
}
var eff = Main.Drivetrain.CalculateFuelConsumption(rpm, thr) / reqPower;
var pwr = Main.Drivetrain.CalculatePower(rpm, variableThrottle);
if (Efficiency)
{
if (calcEfficiency > eff && eff * 1.1 < curEfficiency)
{
calcEfficiency = eff;
calcEfficiencyGear = k;
calcThrottle = thr;
calcPower = pwr;
}
}
else
{
if (pwr > calcEfficiency)
{
calcEfficiency = pwr;
calcEfficiencyGear = k;
calcPower = pwr;
}
}
}
if (allStalled)
{
if (maxgears >= 10)
{
Gear = 3;
}
else
{
Gear = 1;
}
}
else if (calcEfficiencyGear >= 0 && calcEfficiencyGear + 1 != Gear)
{
// Hysterisis
if (Math.Abs(curPower - calcPower) > 25)
{
Gear = calcEfficiencyGear + 1;
}
}
if (Efficiency)
{
//variableThrottle = Main.Drivetrain.CalculateThrottleByPower(
// data.Telemetry.EngineRpm,
// reqPower);
}
else
{
//
}
if (Gear > 0 && Gear != data.Telemetry.Gear)
{
ShiftingPhase = ShiftPhase.OffThrottle;
}
}
}
break;
case ShiftPhase.OffThrottle:
ShiftingPhase++;
break;
case ShiftPhase.OnClutch:
ShiftingPhase++;
break;
case ShiftPhase.EngageRange:
ShiftingPhase++;
break;
case ShiftPhase.EngageGear:
ShiftingPhase++;
break;
case ShiftPhase.Evaluate:
if (Gear == data.Telemetry.Gear)
{
LastSeenRange = DeductRangeFromGear(Gear);
ShiftingPhase++;
}
else
{
shiftingRetry++;
if (shiftingRetry > 50)
{
if (Gear > 0)
{
Gear--;
}
else
{
Gear = -1;
}
shiftingRetry = 0;
ShiftingPhase = ShiftPhase.EngageGear;
}
else if (shiftingRetry > 2)
{
LastSeenRange++;
LastSeenRange = LastSeenRange % 4;
ShiftingPhase = ShiftPhase.OnClutch;
}
else
{
ShiftingPhase = ShiftPhase.EngageGear;
}
}
break;
case ShiftPhase.OffClutch:
ShiftingPhase++;
break;
case ShiftPhase.OnThrottle:
shiftingRetry = 0;
ShiftingPhase = ShiftPhase.Cooldown;
break;
case ShiftPhase.Cooldown:
shiftingRetry++;
if (shiftingRetry > 4)
{
shiftingRetry = 0;
ShiftingPhase = ShiftPhase.None;
}
break;
}
}
}
public void TickTelemetry(IDataMiner data)
{
bool copyTargetThr = false;
/** VARIABLE SPEED CONTROL **/
var actualSpeed = data.Telemetry.Speed * 3.6;
double thrP, thrI;
if (data.Telemetry.Gear == -1)
{
SetSpeed = Main.GetAxisIn(JoyControls.VstLever) * 50;
actualSpeed *= -1;
thrP = 0.1;
thrI = 0;
}
else
{
SetSpeed = Main.GetAxisIn(JoyControls.VstLever)*((fast) ? 200 : 100);
thrP = 0.015 + 0.15 * actualSpeed / 120;
thrI = 0.02 - 0.015 * actualSpeed / 120;
if (Efficiency)
{
thrP *= 0.5;
thrI = 0.00025;
}
if (Efficiency != wasEfficiency)
{
copyTargetThr = true;
staticThrError = variableThrottle-2*thrP*lastSpeedError;
}
wasEfficiency = Efficiency;
}
var speedErrorThr = SetSpeed - actualSpeed;
staticThrError += speedErrorThr*thrI;
if (staticThrError > 0.8) staticThrError = 0.8;
if (staticThrError < -0.8) staticThrError = -0.8;
lastSpeedError = speedErrorThr;
var oldThr = variableThrottle;
if (copyTargetThr)
{
variableThrottle = thrP * speedErrorThr;
variableThrottle *= UserThrottle;
// Theoratical value required to copy last throttle
staticThrError = (1 - variableThrottle)/UserThrottle;
//Deduce at low speeds
var deductor = actualSpeed/50;
if (deductor > 1) deductor = 1;
if (deductor < 0.01) deductor = 0.01;
staticThrError *= deductor;
// Add it.
variableThrottle += staticThrError;
}
else
{
variableThrottle = thrP * speedErrorThr + staticThrError;
variableThrottle *= UserThrottle;
}
if (variableThrottle > 1) variableThrottle = 1;
if (variableThrottle < 0) variableThrottle = 0;
var speedErrorBr = (actualSpeed - 3) - SetSpeed;
if (speedErrorBr < 0) speedErrorBr = 0;
if (actualSpeed < 50)
speedErrorBr *= (50 - actualSpeed) / 15 + 1;
variableBrake = 0.01 * speedErrorBr * speedErrorBr;
if (variableBrake > 0.2) variableBrake = 0.2;
if (variableBrake < 0) variableBrake = 0;
if (variableBrake > 0.01)
variableThrottle = 0;
/** TRANSMISSION **/
if (Main.Data.Active.Application == "eurotrucks2")
{
var ets2 = (Ets2DataMiner) Main.Data.Active;
if (ets2.MyTelemetry.Job.TrailerAttached == false && !fast)
Efficiency = true;
else
{
if (Efficiency)
{
if ((SetSpeed - actualSpeed) > 5)
{
Efficiency = false;
}
}
else
{
if ((SetSpeed - actualSpeed) < 2)
{
Efficiency = true;
}
}
}
}
//Efficiency = (SetSpeed - actualSpeed) < 5;
if (DateTime.Now.Subtract(lastShifterTick).TotalMilliseconds > 40)
{
Active = ShiftingPhase == ShiftPhase.None ? false : true;
lastShifterTick = DateTime.Now;
switch (ShiftingPhase)
{
case ShiftPhase.WaitButton:
if (Main.GetButtonIn(JoyControls.GearUp) == false &&
Main.GetButtonIn(JoyControls.GearDown) == false)
{
ShiftingPhase = ShiftPhase.None;
}
break;
case ShiftPhase.None:
// Reverse pressed?
if (Main.GetButtonIn(JoyControls.VstChange))
{
fast = !fast;
ShiftingPhase = ShiftPhase.WaitButton;
}
if (Main.GetButtonIn(JoyControls.GearDown))
{
Reverse = !Reverse;
ShiftingPhase = ShiftPhase.WaitButton;
}
if (Reverse)
{
if (data.Telemetry.Gear != -1)
{
Gear = -1;
ShiftingPhase = ShiftPhase.OffThrottle;
}
}
else
{
// Do nothing
if (data.Telemetry.Gear != Gear || Gear == 0)
{
if (Gear == 0)
Gear++;
if (Gear == -1)
Gear = 1;
ShiftingPhase = ShiftPhase.OffThrottle;
}
else
{
var curPower = Main.Drivetrain.CalculatePower(data.Telemetry.EngineRpm,
data.Telemetry.Throttle);
if (curPower < 1) curPower = 1;
var curEfficiency = Main.Drivetrain.CalculateFuelConsumption(data.Telemetry.EngineRpm,
data.Telemetry.Throttle)/curPower;
var reqPower = curPower*(variableThrottle - 0.5)*2;
if (reqPower < 25) reqPower = 25;
if (reqPower > 0.5*Main.Drivetrain.CalculateMaxPower())
reqPower = 0.5*Main.Drivetrain.CalculateMaxPower();
reqpower = reqPower;
int maxgears = Main.Drivetrain.Gears;
var calcEfficiency = Efficiency ? double.MaxValue : 0;
var calcEfficiencyGear = -1;
var calcThrottle = variableThrottle;
var calcPower = curPower;
var allStalled = true;
for (int k = 0; k < maxgears; k++)
{
if (maxgears >= 12 && ( k == 5)) continue;
if (maxgears >= 10 && (k == 1 || k == 3)) continue;
if (!Efficiency && k < 3) continue;
// Always pick best efficient gear with power requirement met
var rpm = Main.Drivetrain.CalculateRpmForSpeed(k, data.Telemetry.Speed);
var orpm = Main.Drivetrain.CalculateRpmForSpeed(k, data.Telemetry.Speed);
var estimatedPower = Main.Drivetrain.CalculatePower(rpm, variableThrottle);
// RPM increase linear to throttle:
rpm += estimatedPower/1200*190*variableThrottle;
if (rpm < Main.Drivetrain.StallRpm && k > 0)
continue;
allStalled = false;
if (orpm > Main.Drivetrain.MaximumRpm)
continue;
var thr = Main.Drivetrain.CalculateThrottleByPower(rpm, reqPower);
if (thr > 1) thr = 1;
if (thr < 0) thr = 0;
var eff = Main.Drivetrain.CalculateFuelConsumption(rpm, thr)/reqPower;
var pwr = Main.Drivetrain.CalculatePower(rpm, variableThrottle);
if (Efficiency)
{
if (calcEfficiency > eff && eff*1.1 < curEfficiency)
{
calcEfficiency = eff;
calcEfficiencyGear = k;
calcThrottle = thr;
calcPower = pwr;
}
}
else
{
if (pwr > calcEfficiency)
{
calcEfficiency = pwr;
calcEfficiencyGear = k;
calcPower = pwr;
}
}
}
if (allStalled)
if (maxgears >= 10)
Gear = 3;
else
{
Gear = 1;
}
else if (calcEfficiencyGear >= 0 &&
calcEfficiencyGear+1 != Gear)
{
// Hysterisis
if (Math.Abs(curPower - calcPower) > 25)
Gear = calcEfficiencyGear+1;
}
if (Efficiency)
{
//variableThrottle = Main.Drivetrain.CalculateThrottleByPower(
// data.Telemetry.EngineRpm,
// reqPower);
}
else
{
//
}
if (Gear > 0 && Gear != data.Telemetry.Gear)
ShiftingPhase = ShiftPhase.OffThrottle;
}
}
break;
case ShiftPhase.OffThrottle:
ShiftingPhase++;
break;
case ShiftPhase.OnClutch:
ShiftingPhase++;
break;
case ShiftPhase.EngageRange:
ShiftingPhase++;
break;
case ShiftPhase.EngageGear:
ShiftingPhase++;
break;
case ShiftPhase.Evaluate:
if (Gear == data.Telemetry.Gear)
{
LastSeenRange = DeductRangeFromGear(Gear);
ShiftingPhase++;
}
else
{
shiftingRetry++;
if (shiftingRetry > 50)
{
if (Gear > 0)
Gear--;
else
Gear = -1;
shiftingRetry = 0;
ShiftingPhase = ShiftPhase.EngageGear;
}
else if (shiftingRetry > 2)
{
LastSeenRange++;
LastSeenRange = LastSeenRange % 4;
ShiftingPhase = ShiftPhase.OnClutch;
}
else
{
ShiftingPhase = ShiftPhase.EngageGear;
}
}
break;
case ShiftPhase.OffClutch:
ShiftingPhase++;
break;
case ShiftPhase.OnThrottle:
shiftingRetry = 0;
ShiftingPhase = ShiftPhase.Cooldown;
break;
case ShiftPhase.Cooldown:
shiftingRetry++;
if (shiftingRetry > 4)
{
shiftingRetry = 0;
ShiftingPhase = ShiftPhase.None;
}
break;
}
}
}
