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fixed various bugs in kinematics calculations in robot

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Richard Harrington 2013-08-10 17:04:44 -04:00
parent 2846ed4151
commit 64ac3c743b
1 changed files with 24 additions and 16 deletions
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40
src/robotwar/robot.clj
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@ -17,28 +17,28 @@
(double (/ v-diff a)))))
(defn d-with-constant-a
[vi a t]
(double (+ (* vi t) (/ (* a (Math/pow t 2)) 2))))
[d vi a t]
(double (+ d (* vi t) (/ (* a (Math/pow t 2)) 2))))
(defn v-with-constant-a
[vi a t]
(+ vi (* a t)))
(defn d-and-v-given-desired-v
"returns a vector of distance and velocity at final position.
"returns a map of distance and velocity at final position.
the function deals with either of two cases:
1) when the desired velocity is not reached during the
given time interval, in which case it's just
distance-from-constant-acceleration, and
given time interval, in which case it's just
distance-with-constant-acceleration
2) when we reach the desired velocity (or are already there)
and then cruise the rest of the way."
[vi vf a t]
and then cruise the rest of the way"
[d vi vf a t]
(let [t' (time-to-reach-desired-v vi vf a)]
(if (<= t t')
[(d-with-constant-a vi a t)
(v-with-constant-a vi a t)]
[(+ (d-with-constant-a vi a t') (d-with-constant-a vf 0 (- t t')))
vf])))
(if (> t' t)
{:d (d-with-constant-a d vi a t)
:v (v-with-constant-a vi a t)}
{:d (d-with-constant-a (d-with-constant-a d vi a t') vf 0 (- t t'))
:v vf})))
; TODO: velocity-given-desired-velocity-and-distance or something
; like that, to figure out the velocity at the point when
@ -82,10 +82,18 @@
register/read-register
register/write-register)
new-robot (get-in new-world [:robots robot-idx])
[pos-x v-x] (d-and-v-given-desired-v (:v-x robot) (:desired-v-x robot)
MAX_ACCEL TICK_DURATION)
[pos-y v-y] (d-and-v-given-desired-v (:v-y robot) (:desired-v-y robot)
MAX_ACCEL TICK_DURATION)]
{pos-x :d v-x :v} (d-and-v-given-desired-v
(:pos-x robot)
(:v-x robot)
(:desired-v-x robot)
MAX_ACCEL
TICK_DURATION)
{pos-y :d v-y :v} (d-and-v-given-desired-v
(:pos-y robot)
(:v-y robot)
(:desired-v-y robot)
MAX_ACCEL
TICK_DURATION)]
(assoc-in
new-world
[:robots robot-idx]