The last commit... #goRedDragons

Red-Dragons-UFSCar · Oct 15, 2021 · 844abf8 · 844abf8
1 parent ea570aa
commit 844abf8
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/action.py b/action.py
@@ -583,14 +583,14 @@ def slave(robotSlave, robotMaster, robot0=None, robotEnemy0=None, robotEnemy1=No
             projY = robotMaster.yPos - 30
         else:
             projX = robotMaster.xPos + 15
-            projY = robotMaster.yPos - 30 #
+            projY = robotMaster.yPos - 15 #30
     else:
         if robotMaster.xPos > 75:
             projX = robotMaster.xPos - 15
             projY = robotMaster.yPos + 30
         else:
             projX = robotMaster.xPos + 15
-            projY = robotMaster.yPos + 30 #
+            projY = robotMaster.yPos + 15 #30
 
     dist = sqrt((robotSlave.xPos - projX)**2 + (robotSlave.yPos - projY)**2)
     robotSlave.target.update(projX,projY,0)

diff --git a/behaviours.py b/behaviours.py
@@ -8,9 +8,9 @@ def __init__(self):
         #? Constants learned from EP
         self.d_e=6                                      # Constante relacionada ao tamanho das espirais
         self.k_r=3                                    # Constante de suavização do campo
-        self.delta=5                                  # Variancia da gaussiana de obstaculo
+        self.delta=3.5#5                                  # Variancia da gaussiana de obstaculo
         self.k_o=0.5                                   # Constante de proporcionalidade velocidade do obstaculo
-        self.d_min=5 #* => modified: EP = 3.48          # Distancia mínima em que o campo se torna puro repulsivo
+        self.d_min=3.5#5 #* => modified: EP = 3.48          # Distancia mínima em que o campo se torna puro repulsivo
 
 
     def rotMatrix(self,alpha):                                                  # Função que retorna uma matriz de rotação

diff --git a/simClasses.py b/simClasses.py
@@ -185,7 +185,7 @@ def __init__(self, index, actuator, mray):
         self.vL=0                            #? Left wheel velocity (cm/s) => updated on simClasses.py -> simSetVel()
         self.vR=0                            #? Right wheel velocity (cm/s) =>  updated on simClasses.py -> simSetVel()
         if self.index == 0:
-            self.vMax=35                             #! Robot max velocity (cm/s)
+            self.vMax=40#35                             #! Robot max velocity (cm/s)
         else:
             self.vMax=50
         self.rMax=3*self.vMax                #! Robot max rotation velocity (rad*cm/s)