SimpleDriver.h

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/

#ifndef SIMPLEDRIVER_H_
#define SIMPLEDRIVER_H_

#include <iostream>
#include <cmath>
#include "BaseDriver.h"
#include "CarState.h"
#include "CarControl.h"
#include "SimpleParser.h"
#include "WrapperBaseDriver.h"
#include "SimplePID.h"

#define PI 3.14159265

using namespace std;

class SimpleDriver : public WrapperBaseDriver
{
public:

	// Constructor
	SimpleDriver(){stuck=0;clutch=0.0;};

	// SimpleDriver implements a simple and heuristic controller for driving
	virtual CarControl wDrive(CarState cs);

	// Print a shutdown message
	virtual void onShutdown();

	// Print a restart message
	virtual void onRestart();

	// Initialization of the desired angles for the rangefinders
	virtual void init(float *angles);

private:

	/* Gear Changing Constants*/

	// RPM values to change gear
	static const int gearUp[6];
	static const int gearDown[6];

	/* Stuck constants*/

	// How many time steps the controller wait before recovering from a stuck position
	static const int stuckTime;
	// When car angle w.r.t. track axis is grather tan stuckAngle, the car is probably stuck
	static const float stuckAngle;

	/* Steering constants*/

	// Angle associated to a full steer command
	static const float steerLock;
	// Min speed to reduce steering command
	static const float steerSensitivityOffset;
	// Coefficient to reduce steering command at high speed (to avoid loosing the control)
	static const float wheelSensitivityCoeff;

	/* Accel and Brake Constants*/

	// max speed allowed
	static const float maxSpeed;
	// Min distance from track border to drive at  max speed
	static const float maxSpeedDist;
	// pre-computed sin5
	static const float sin5;
	// pre-computed cos5
	static const float cos5;

	/* ABS Filter Constants */

	// Radius of the 4 wheels of the car
	static const float wheelRadius[4];
	// min slip to prevent ABS
	static const float absSlip;
	// range to normalize the ABS effect on the brake
	static const float absRange;
	// min speed to activate ABS
	static const float absMinSpeed;

	/* Clutch constants */
	static const float clutchMax;
	static const float clutchDelta;
	static const float clutchRange;
	static const float clutchDeltaTime;
	static const float clutchDeltaRaced;
	static const float clutchDec;
	static const float clutchMaxModifier;
	static const float clutchMaxTime;

	// counter of stuck steps
	int stuck;

	// current clutch
	float clutch;

	// Solves the gear changing subproblems
	int getGear(CarState &cs);

	// Solves the steering subproblems
	float getSteer(CarState &cs);

	// Solves the gear changing subproblems
	float getAccel(CarState &cs);

	// Apply an ABS filter to brake command
	float filterABS(CarState &cs,float brake);

	// Solves the clucthing subproblems
	void clutching(CarState &cs, float &clutch);
};

#endif /*SIMPLEDRIVER_H_*/