From b92a9a3034a3ed23963867414190423b7e42c30b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Stefan=20B=C3=BChler?= <stbuehler@web.de>
Date: Mon, 14 Jul 2008 00:33:51 +0200
Subject: [PATCH] optimize

---
 src/lookahead.c |  4 ++--
 src/radar.c     | 10 ++++++----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/lookahead.c b/src/lookahead.c
index eeb6336..8eba906 100644
--- a/src/lookahead.c
+++ b/src/lookahead.c
@@ -93,7 +93,7 @@ void sim_update(trial* t){
 		fixangle(t->sim.tm.vehicle.dir - t->vehicle.dir),
 		t->sim.steps);
 // 	fprintf(stderr, "w = %f, dir = %f\n", t->sim.tm.vehicle.w, t->sim.tm.vehicle.dir);
-	fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed);
+// 	fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed);
 
 	/*update simulation vehicle from telemetry: everything and calculate w*/
 //	tm->vehicle.w = t->sim.tm.vehicle.w; 
@@ -107,7 +107,7 @@ void sim_update(trial* t){
 	
 	}
 // 	fprintf(stderr, "w = %f, dir = %f\n", t->sim.tm.vehicle.w, t->sim.tm.vehicle.dir);
-	fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed);
+// 	fprintf(stderr, "speed = %f\n", t->sim.tm.vehicle.speed);
 }
 
 int dgl(trial* t, vehicle* after, vehicle* before, timestamp h, timestamp deltat){
diff --git a/src/radar.c b/src/radar.c
index e321f70..4be71a4 100644
--- a/src/radar.c
+++ b/src/radar.c
@@ -129,20 +129,22 @@ void goradar(trial *t) {
 		}
 	}
 
-	ang = fixangle(ang - v.dir + ve_ho_angle);
-// 	fprintf(stderr, "Angle: %f, objects: %u\n", ang, objects);
+	ang = fixangle(ang - (v.dir + 30*v.w) + ve_ho_angle);
+// 	fprintf(stderr, "Angle: %f (%f), objects: %u\n", ang, 20*v.w, objects);
 	if (ang < 1) {
-		if (ang < -15) {
+		if (ang < -10) {
 			vehicle_hard_right(t);
 		} else {
 			vehicle_right(t);
 		}
 	} else if (ang > 1) {
-		if (ang > 15) {
+		if (ang > 10) {
 			vehicle_hard_left(t);
 		} else {
 			vehicle_left(t);
 		}
+	} else {
+		vehicle_straight(t);
 	}
 	ang = fabs(ang);
 	if (ang > 90) {