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Added emergency brake to main controller; additional limit for AI when hint factor for braking is too low

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This commit is contained in:
Królik Uszasty
2020-10-12 21:49:01 +02:00
committed by tmj-fstate
parent fdd00f80e9
commit 9e01322e59
4 changed files with 25 additions and 9 deletions
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17
Driver.cpp
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@@ -3149,7 +3149,10 @@ bool TController::IncBrakeEIM()
{
case 0: {
if( mvOccupied->MED_amax != 9.81 ) {
auto const brakeposition{ clamp( -1.0 * mvOccupied->AIHintLocalBrakeAccFactor * AccDesired / mvOccupied->MED_amax, 0.0, 1.0 ) };
auto const maxpos{mvOccupied->EIMCtrlEmergency ? 0.9 : 1.0 };
auto const brakelimit{ -2.2 * AccDesired / mvOccupied->MED_amax - 1.0}; //additional limit when hinted is too low
auto const brakehinted{ -1.0 * mvOccupied->AIHintLocalBrakeAccFactor * AccDesired / mvOccupied->MED_amax }; //preffered by AI
auto const brakeposition{ maxpos * clamp(std::max(brakelimit, brakehinted), 0.0, 1.0)};
OK = ( brakeposition != mvOccupied->LocalBrakePosA );
mvOccupied->LocalBrakePosA = brakeposition;
}
@@ -3893,9 +3896,11 @@ void TController::SpeedSet()
void TController::SpeedCntrl(double DesiredSpeed)
{
while (mvControlling->SpeedCtrlUnit.DesiredPower < mvControlling->SpeedCtrlUnit.MaxPower)
{
mvControlling->SpeedCtrlPowerInc();
if (mvControlling->SpeedCtrlUnit.PowerStep > 0) {
while (mvControlling->SpeedCtrlUnit.DesiredPower < mvControlling->SpeedCtrlUnit.MaxPower)
{
mvControlling->SpeedCtrlPowerInc();
}
}
if (mvControlling->EngineType == TEngineType::DieselEngine)
{
@@ -6837,6 +6842,10 @@ TController::UpdateSituation(double dt) {
if( mvOccupied->LocalBrakePosA < 1.0 ) {
// dodatkowy na pozycję 1
mvOccupied->IncLocalBrakeLevel( LocalBrakePosNo );
if (mvOccupied->EIMCtrlEmergency)
{
mvOccupied->DecLocalBrakeLevel(1);
}
}
}
else {