Revision 271
lemmings: modified turning and speed slightly to allow for better straight line following
| lemmings.c | ||
|---|---|---|
| 165 | 165 |
error = bom_id - 20; |
| 166 | 166 |
} |
| 167 | 167 |
|
| 168 |
*turn_speed = error * 20; // set turn speed |
|
| 169 |
*speed = -SPEED * error * error / 25 + SPEED; // set speed |
|
| 168 |
// set turn speed and main speed |
|
| 169 |
// if error is small, turn slowly and travel at normal speed |
|
| 170 |
// if error is large, turn faster and travel at reduced speed |
|
| 171 |
switch(error) |
|
| 172 |
{
|
|
| 173 |
case 0: |
|
| 174 |
*turn_speed = 0; |
|
| 175 |
*speed = SPEED; |
|
| 176 |
return; |
|
| 177 |
case 1: |
|
| 178 |
case -1: |
|
| 179 |
*turn_speed = error * 5; |
|
| 180 |
*speed = SPEED; |
|
| 181 |
return; |
|
| 182 |
case 2: |
|
| 183 |
case -2: |
|
| 184 |
*turn_speed = error * 8; |
|
| 185 |
*speed = SPEED; |
|
| 186 |
return; |
|
| 187 |
case 3: |
|
| 188 |
case -3: |
|
| 189 |
*turn_speed = error * 12; |
|
| 190 |
*speed = SPEED; |
|
| 191 |
return; |
|
| 192 |
case 4: |
|
| 193 |
case -4: |
|
| 194 |
*turn_speed = error * 16; |
|
| 195 |
*speed = SPEED - SPEED * error * error / 36; |
|
| 196 |
return; |
|
| 197 |
} |
|
| 198 |
// if not in a case |
|
| 199 |
*turn_speed = error * 20; |
|
| 200 |
*speed = SPEED - SPEED * error * error / 36; |
|
| 170 | 201 |
} |
| 171 | 202 |
|
| 172 | 203 |
// create connected components and pick a leader for each chain |
Also available in: Unified diff