Allow TankModifier to produce negative velocity for inside wheel on tight curves #50
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…into TankNegativeDistance
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Could this now work with waypoint 0,0,0 to 0,0,90(degrees). Previously and understandably it would produce sigsegs |
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It won't do that. It only addresses sharp turns in the rank modifier. |
andrewda
suggested changes
Apr 16, 2018
| if ((last_seg.x > seg.x && last_right.x < right.x) || (last_seg.y > seg.y && last_right.y < right.y) || | ||
| (last_seg.x < seg.x && last_right.x > right.x) || (last_seg.y < seg.y && last_right.y > right.y)) { | ||
| right_distance = -right_distance; | ||
| } |
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Can you elaborate? Not sure I am seeing what you mean...
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Spacing is just a bit off here. Remove a space from the line commented on so it lines up with the if statement. Sorry, just have an eye for this kind of stuff 😂
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For Issue #36
I modified the logic in tank.c to detect when the left or right path is moving in the opposite direction as the original path. In such cases, I negate the distance which in turn generates a negative velocity.
I tested a bunch of tight turns, and the velocity goes negative as expected (i.e. when the inside path goes back on itself)