Diff: ai.cpp

Revision:

4:ae47210fa346

Parent:

3:9f5346fc58b3

Child:

5:794d7d690dc9

diff -r 9f5346fc58b3 -r ae47210fa346 ai.cpp
--- a/ai.cpp	Tue May 24 06:43:06 2016 +0000
+++ b/ai.cpp	Tue May 24 07:32:18 2016 +0000
@@ -7,7 +7,7 @@
 
 float xP,yP //position that car need to reach
 
-float angleR // relative angle between car-nextSpot angle and car's angle, angleP - angle C, based on 0~360 degree system
+float angleR //  angleR =  car-nextSpot direction  --->  car direction
 
 ****  specs of everything   ***************
 
@@ -21,15 +21,15 @@
 
 *****  Code Begin  **********
 
-yB1 yB2 xB3 xB4 // broder conditions
+int yB1 yB2 xB3 xB4; // broder conditions
 
-yB1 = 0-longC
+yB1 = longC;
 
-yB2 = 0-wideB + longC 
+yB2 = wideB - longC ;
 
-xB3 = longC 
+xB3 = longC ;
 
-xB4 = longB-longC
+xB4 = longB-longC;
 *******************************************************************************
 
 遠離邊界  
@@ -57,40 +57,40 @@
     {
         if(xC < xB3) //左上角  
         {
-           if(angleC <= 90 && angleC >0)         //   I
+           if(angleC <0 && angleC >=-90)         //   I
             
-            //clockwise, to angleC = -45
+            //clockwise, to angleC = 45
             
-           else if(angleC <= 180 && angleC >90)  //   II
+           else if(angleC > -180 && angleC <-90)  //   II
             
             //back 0.5*longC, judge again
             
-           else if(angleC <= 270 && angleC 180)  //   III
+           else if(angleC <=180 && angleC >=90)  //   III
             
-            //counter clockwise, to angleC = -45
+            //counter clockwise, to angleC = 45
 
-           else if(angleC <= 360 && angleC 270)  //  IV
+           else if(angleC < 90 && angleC >=0)  //  IV
             
             //forward 0.5*longC, judge again
 
         }
         else if(xC > xB4) //右上角  
         {
-           if(angleC <= 90 && angleC >0)         //   I
+           if(angleC <0 && angleC >=-90)         //   I
             
             //back 0.5*longC, judge again
             
-           else if(angleC <= 180 && angleC >90)  //   II
+           else if(angleC > -180 && angleC <-90)  //   II
             
-            //counter clockwise, to angleC = -135
+            //counter clockwise, to angleC = 135
             
-           else if(angleC <= 270 && angleC 180)  //   III
+           else if(angleC <=180 && angleC >=90)  //   III
             
             //forward 0.5*longC, judge again
 
-           else if(angleC <= 360 && angleC 270)  //  IV
+           else if(angleC < 90 && angleC >=0)  //  IV
             
-            //clockwise, to angleC = -135
+            //clockwise, to angleC = 135
           
         }
         else //上邊界 
@@ -98,7 +98,7 @@
           if(angleC = -90 || angleC = 90)
           {} // do nothing, turn to next point
           else
-          {smallAngle(-90);} // turn to 90, then turn to next point
+          {smallAngle(90);} // turn to 90, then turn to next point
         }
         
     }
@@ -106,38 +106,38 @@
     {
         if(xC < xB3) //左下角 
         {
-           if(angleC <= 90 && angleC >0)         //   I
+           if(angleC <0 && angleC >=-90)         //   I
             
             //forward 0.5*longC, judge again
             
-           else if(angleC <= 180 && angleC >90)  //   II
+           else if(angleC > -180 && angleC <-90)  //   II
             
-            //clockwise, to angleC = 45
+            //clockwise, to angleC = -45
             
-           else if(angleC <= 270 && angleC 180)  //   III
+           else if(angleC <=180 && angleC >=90)  //   III
             
             //back 0.5*longC, judge again
 
-           else if(angleC <= 360 && angleC 270)  //  IV
+           else if(angleC < 90 && angleC >=0)  //  IV
             
-            //counter clockwise, to angleC = 45
+            //counter clockwise, to angleC = -45
           
         }
         else if(xC > xB4) //右下角
         {
-           if(angleC <= 90 && angleC >0)         //   I
+           if(angleC <0 && angleC >=-90)         //   I
             
-            //counter clockwise, to angleC = 135
+            //counter clockwise, to angleC = -135
             
-           else if(angleC <= 180 && angleC >90)  //   II
+           else if(angleC > -180 && angleC <-90)  //   II
             
             //forward 0.5*longC, judge again
             
-           else if(angleC <= 270 && angleC 180)  //   III
+           else if(angleC <=180 && angleC >=90)  //   III
             
-            //clockwise, to angleC = 135
+            //clockwise, to angleC = -135
 
-           else if(angleC <= 360 && angleC 270)  //  IV
+           else if(angleC < 90 && angleC >=0)  //  IV
             
             //back 0.5*longC, judge again
           
@@ -147,7 +147,7 @@
           if(angleC = -90 || angleC = 90)
           {} // do nothing, turn to next point
           else
-          {smallAngle(90);} // turn to 90, then turn to next point
+          {smallAngle(-90);} // turn to 90, then turn to next point
         }
 
     else if(xC < xB3) //靠近左邊界
@@ -171,11 +171,11 @@
 
 smallAngle( float goodAngle ) // use the smallest turn to right angle  ccw / cw,  based on 0~360 degree system
 {
-    if(angleR - angleC <= 180 ) // CW
+    if(angleR > 0) // CW
     {
         // turn clockwise to goodAngle;
     }
-    else if(angleR - angleC > 180) //CCW
+    else if(angleR < 0) //CCW
     {
         // turn counter clockwise to goodAngle;
     }