History of Skilgannon/CodeSnippets

Robo Home | Changes | Preferences | AllPages

Difference (from prior major revision) (no other diffs)

Changed: 18c18,22

if(velocity >= 0 && distanceRemaining >= decelDistance(velocity))

double maxTurn = Math.PI/180*(10 - 0.75*Math.abs(velocity));
theta = limit(0,theta - maxTurn, Math.PI/2);

if(velocity >= 0 && distanceRemaining > decelDistance(velocity))

Removed: 20d23

Removed: 24,26d26

double maxTurn = Math.PI/180*(10 - 0.75*velocity);
theta = limit(0,theta - maxTurn, Math.PI/2);

Changed: 29c29,30

else //rule of cosines

else{ //rule of cosines
double oldDistRem? = distanceRemaining;

Added: 30a32,39

double acosVal = (velocity*velocity + distanceRemaining*distanceRemaining - oldDistRem?*oldDistRem?)/(2*velocity*distanceRemaining);
if(Math.abs(acosVal) <= 1){
theta = Math.abs(Math.acos(acosVal));
if(theta > Math.PI/2)
theta = Math.PI - theta;
}
}

Changed: 34c43

}while(time < timeAvailable && distanceRemaining >= 1);

}while(time < timeAvailable && distanceRemaining > 0.000001);

	Revision 5 . . October 30, 2007 18:56 EST by Skilgannon [fixed bug in reachable()]
	Revision 4 . . October 30, 2007 7:08 EST by Skilgannon [reachable() now using BackAsFront]
	Revision 3 . . October 29, 2007 15:57 EST by Skilgannon [decelDistance]
	Revision 2 . . October 29, 2007 15:53 EST by Skilgannon [reachable() method]
	Revision 1 . . October 29, 2007 15:53 EST by Skilgannon [reachable() method]