From 14e3a2702672e5cdd6a4e1f197638be176dc2e9b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kr=C3=B3lik=20Uszasty?= <bunny@awril.pl>
Date: Fri, 22 Mar 2019 20:26:59 +0100
Subject: [PATCH] AI does not fear SlippingWheels when driving
 ElectricInductionMotor vehicle + fix for adhesion calculation when slipping

---
 Driver.cpp         |  2 +-
 McZapkie/Mover.cpp | 26 +++++++++++++-------------
 driveruipanels.cpp |  3 ++-
 3 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/Driver.cpp b/Driver.cpp
index 15c969e2..9c82e860 100644
--- a/Driver.cpp
+++ b/Driver.cpp
@@ -5542,7 +5542,7 @@ TController::UpdateSituation(double dt) {
                 // część wykonawcza tylko dla AI, dla człowieka jedynie napisy
 
                 // zapobieganie poslizgowi u nas
-                if (mvControlling->SlippingWheels) {
+                if (mvControlling->SlippingWheels && mvControlling->EngineType != TEngineType::ElectricInductionMotor) {
 
                     if( false == mvControlling->DecScndCtrl( 2 ) ) {
                         // bocznik na zero
diff --git a/McZapkie/Mover.cpp b/McZapkie/Mover.cpp
index acad6b49..2dfc3537 100644
--- a/McZapkie/Mover.cpp
+++ b/McZapkie/Mover.cpp
@@ -4001,12 +4001,18 @@ void TMoverParameters::ComputeTotalForce(double dt) {
      && ( std::abs(Fwheels) > TotalMassxg * Adhesive( RunningTrack.friction ) ) ) {
         SlippingWheels = true;
     }
-    if( true == SlippingWheels ) {
+	double temp_nrot = nrot;
+	if (true == SlippingWheels) {
 
-        double temp_nrot = ComputeRotatingWheel(Fwheels - 
-                                        Sign(nrot * M_PI * WheelDiameter - V) *
-                                            Adhesive(RunningTrack.friction) * TotalMassxg,
-                                    dt, nrot);
+		temp_nrot = ComputeRotatingWheel(Fwheels - Sign(nrot * M_PI * WheelDiameter - V) *
+			Adhesive(RunningTrack.friction) * TotalMassxg, dt, nrot);
+		if (Sign(nrot * M_PI * WheelDiameter - V)*Sign(temp_nrot * M_PI * WheelDiameter - V) < 0)
+		{
+			SlippingWheels = false;
+			temp_nrot = V / M_PI / WheelDiameter;
+		}
+	}
+	if (true == SlippingWheels) {
         Fwheels = Sign(temp_nrot * M_PI * WheelDiameter - V) * TotalMassxg * Adhesive(RunningTrack.friction);
 		if (Fwheels*Sign(V)>0)
 		{
@@ -4025,12 +4031,6 @@ void TMoverParameters::ComputeTotalForce(double dt) {
 		{
 			WheelFlat = sqrt(square(WheelFlat) + abs(Fwheels) / NAxles*Vel*0.000002);
 		}
-		if (Sign(nrot * M_PI * WheelDiameter - V)*Sign(temp_nrot * M_PI * WheelDiameter - V) < 0)
-		{
-			SlippingWheels = false;
-			temp_nrot = V / M_PI / WheelDiameter;
-		}
-
 
 		nrot = temp_nrot;
     }
@@ -5368,9 +5368,9 @@ double TMoverParameters::v2n(void)
 
     n = V / (M_PI * WheelDiameter); // predkosc obrotowa wynikajaca z liniowej [obr/s]
     deltan = n - nrot; //"pochodna" prędkości obrotowej
-    if (SlippingWheels)
+    /* if (SlippingWheels)
         if (std::abs(deltan) < 0.001)
-            SlippingWheels = false; // wygaszenie poslizgu
+            SlippingWheels = false; // wygaszenie poslizgu */ //poslizg jest w innym miejscu wygaszany też
     if (SlippingWheels) // nie ma zwiazku z predkoscia liniowa V
     { // McZapkie-221103: uszkodzenia kol podczas poslizgu
         if (deltan > dmgn)
diff --git a/driveruipanels.cpp b/driveruipanels.cpp
index f10ae4c9..bcd5c623 100644
--- a/driveruipanels.cpp
+++ b/driveruipanels.cpp
@@ -820,7 +820,8 @@ debug_panel::update_section_ai( std::vector<text_line> &Output ) {
         + ", slope: " + to_string( mechanik.fAccGravity + 0.001f, 2 ) + " (" + ( mechanik.fAccGravity > 0.01 ? "\\" : ( mechanik.fAccGravity < -0.01 ? "/" : "-" ) ) + ")"
         + "\n brake threshold: " + to_string( mechanik.fAccThreshold, 2 )
         + ", delays: " + to_string( mechanik.fBrake_a0[ 0 ], 2 )
-        + "+" + to_string( mechanik.fBrake_a1[ 0 ], 2 );
+        + "+" + to_string( mechanik.fBrake_a1[ 0 ], 2 )
+		+ "\n virtual brake position: " + to_string(mechanik.BrakeCtrlPosition, 2);
 
     Output.emplace_back( textline, Global.UITextColor );