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lego: Implement/match CalculateNewVel (#66)

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* lego: Implement/match CalculateNewVel

* remove braces

* consistency
This commit is contained in:
Christian Semmler 2023-07-01 01:24:46 +02:00 committed by GitHub
parent 428b5ae8db
commit d7b8d6463b
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 43 additions and 16 deletions
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36
LEGO1/legonavcontroller.cpp
View file

@ -106,8 +106,7 @@ void LegoNavController::SetControlMax(int p_hMax, int p_vMax)
this->m_hMax = p_hMax; this->m_hMax = p_hMax;
this->m_vMax = p_vMax; this->m_vMax = p_vMax;
if (VideoManager()->GetVideoParam().flags().GetFullScreen()) if (VideoManager()->GetVideoParam().flags().GetFullScreen()) {
{
this->m_hMax = 640; this->m_hMax = 640;
this->m_vMax = 480; this->m_vMax = 480;
} }
@ -134,19 +133,15 @@ void LegoNavController::ResetToDefault()
void LegoNavController::SetTargets(int p_hPos, int p_vPos, MxBool p_accel) void LegoNavController::SetTargets(int p_hPos, int p_vPos, MxBool p_accel)
{ {
if (this->m_trackDefault != FALSE) if (this->m_trackDefault != FALSE)
{
ResetToDefault(); ResetToDefault();
}
if (p_accel != FALSE) if (p_accel != FALSE) {
{
this->m_targetTurnSpeed = CalculateNewTargetSpeed(p_hPos, this->m_hMax / 2, this->m_turnMaxSpeed); this->m_targetTurnSpeed = CalculateNewTargetSpeed(p_hPos, this->m_hMax / 2, this->m_turnMaxSpeed);
this->m_targetMovementSpeed = CalculateNewTargetSpeed(this->m_vMax - p_vPos, this->m_vMax / 2, this->m_movementMaxSpeed); this->m_targetMovementSpeed = CalculateNewTargetSpeed(this->m_vMax - p_vPos, this->m_vMax / 2, this->m_movementMaxSpeed);
this->m_turnAccel = CalculateNewAccel(p_hPos, this->m_hMax / 2, this->m_turnMaxAccel, (int)this->m_turnMinAccel); this->m_turnAccel = CalculateNewAccel(p_hPos, this->m_hMax / 2, this->m_turnMaxAccel, (int)this->m_turnMinAccel);
this->m_movementAccel = CalculateNewAccel(this->m_vMax - p_vPos, this->m_vMax / 2, this->m_movementMaxAccel, (int)this->m_movementMinAccel); this->m_movementAccel = CalculateNewAccel(this->m_vMax - p_vPos, this->m_vMax / 2, this->m_movementMaxAccel, (int)this->m_movementMinAccel);
} }
else else {
{
this->m_targetTurnSpeed = 0.0f; this->m_targetTurnSpeed = 0.0f;
this->m_targetMovementSpeed = 0.0f; this->m_targetMovementSpeed = 0.0f;
this->m_movementAccel = this->m_movementDecel; this->m_movementAccel = this->m_movementDecel;
@ -179,9 +174,28 @@ float LegoNavController::CalculateNewAccel(int p_pos, int p_center, float p_maxA
result = Abs(diff) * p_maxAccel / p_center; result = Abs(diff) * p_maxAccel / p_center;
if (result < p_minAccel) if (result < p_minAccel)
{ result = (float) p_minAccel;
result = (float)p_minAccel;
}
return result; return result;
} }
// OFFSET: LEGO1 0x10054fe0
float LegoNavController::CalculateNewVel(float p_targetVel, float p_currentVel, float p_accel, float p_time)
{
float newVel = p_currentVel;
float velDiff = p_targetVel - p_currentVel;
int vSign = velDiff > 0 ? 1 : -1;
if (Abs(velDiff) > this->m_zeroThreshold) {
float deltaVel = p_accel * p_time;
newVel = p_currentVel + (deltaVel * vSign);
if (vSign > 0)
newVel = Min(newVel, p_targetVel);
else
newVel = Max(newVel, p_targetVel);
}
return newVel;
}

1
LEGO1/legonavcontroller.h
View file

@ -40,6 +40,7 @@ class LegoNavController : public MxCore
void SetTargets(int p_hPos, int p_vPos, MxBool p_accel); void SetTargets(int p_hPos, int p_vPos, MxBool p_accel);
float CalculateNewTargetSpeed(int p_pos, int p_center, float p_maxSpeed); float CalculateNewTargetSpeed(int p_pos, int p_center, float p_maxSpeed);
float CalculateNewAccel(int p_pos, int p_center, float p_maxAccel, int p_minAccel); float CalculateNewAccel(int p_pos, int p_center, float p_maxAccel, int p_minAccel);
float CalculateNewVel(float p_targetVel, float p_currentVel, float p_accel, float p_time);
private: private:
int m_hMax; int m_hMax;

12
LEGO1/legoutil.h
View file

@ -7,4 +7,16 @@ inline T Abs(T p_t)
return p_t < 0 ? -p_t : p_t; return p_t < 0 ? -p_t : p_t;
} }
template <class T>
inline T Min(T p_t1, T p_t2)
{
return p_t1 < p_t2 ? p_t1 : p_t2;
}
template <class T>
inline T Max(T p_t1, T p_t2)
{
return p_t1 > p_t2 ? p_t1 : p_t2;
}
#endif // LEGOUTIL_H #endif // LEGOUTIL_H

10
LEGO1/mxdsobject.cpp
View file

@ -45,16 +45,16 @@ MxDSObject &MxDSObject::operator=(MxDSObject &p_dsObject)
} }
// OFFSET: LEGO1 0x100bf8e0 // OFFSET: LEGO1 0x100bf8e0
void MxDSObject::SetObjectName(const char *p_name) void MxDSObject::SetObjectName(const char *p_objectName)
{ {
if (p_name != this->m_objectName) { if (p_objectName != this->m_objectName) {
delete[] this->m_objectName; delete[] this->m_objectName;
if (p_name) { if (p_objectName) {
this->m_objectName = new char[strlen(p_name) + 1]; this->m_objectName = new char[strlen(p_objectName) + 1];
if (this->m_objectName) { if (this->m_objectName) {
strcpy(this->m_objectName, p_name); strcpy(this->m_objectName, p_objectName);
} }
} }
else { else {