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Engine: more bug fix

This commit is contained in:
Sidi Liang 2021-02-13 18:11:23 +08:00
parent 0633cbdf2a
commit 11959fbc4a
1 changed files with 25 additions and 23 deletions
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48
Nasal/engine.nas
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@ -77,6 +77,8 @@ var Engine = {
rpm_calculate: func(angularAcceleration){
var direction = me.getDirection();
var rpm = me.rpm;
#//var rps = rpm / 60;
@ -89,37 +91,37 @@ var Engine = {
#print(angularAcceleration);
#print("de"~angularDecelaeration);
angularDecelaeration = math.abs(angularDecelaeration) * me.getDirection() * -1;
angularDecelaeration = math.abs(angularDecelaeration) * direction * -1;
angularAcceleration *= direction;
var totalAcceleration = angularAcceleration + angularDecelaeration;
#if(me.getDirection() == 1){
# if(angularSpeed + totalAcceleration * 0.1 > 10){
# angularSpeed = angularSpeed + totalAcceleration * 0.1;
# }else if(angularSpeed + totalAcceleration * 0.1 < 10){
# #print("angularSpeed + totalAcceleration * 0.1 < 10");
# angularSpeed = angularSpeed + angularAcceleration * 0.1;
# }
#}else if(me.getDirection() == -1){
# if(angularSpeed + totalAcceleration * 0.1 < -10){
# angularSpeed = angularSpeed + totalAcceleration * 0.1;
# }else if(angularSpeed + totalAcceleration * 0.1 > -10){
# angularSpeed = angularSpeed + angularAcceleration * 0.1;
# }
#}
if(direction == 1){
if(angularSpeed + totalAcceleration * 0.1 > 10){
angularSpeed += totalAcceleration * 0.1;
}else if(angularSpeed + totalAcceleration * 0.1 < 10){
#print("angularSpeed + totalAcceleration * 0.1 < 10");
angularSpeed += angularAcceleration * 0.1;
}
}else if(direction == -1){
if(angularSpeed + totalAcceleration * 0.1 < -10){
angularSpeed += totalAcceleration * 0.1;
}else if(angularSpeed + totalAcceleration * 0.1 > -10){
angularSpeed += angularAcceleration * 0.1;
}
}
angularSpeed += totalAcceleration * 0.1;
#angularSpeed += totalAcceleration * 0.1;
var wheelSpeed_ms = math.abs(me.wheelSpeedNode.getValue()) * me.getDirection();
var wheelSpeed_ms = me.wheelSpeedNode.getValue();
var wheelAngularSpeed = wheelSpeed_ms / me.wheel_radius;
var targetAngularSpeed = wheelAngularSpeed * me.gear;
#print("WheelAngularSpeed x gear " ~ wheelAngularSpeed * me.gear);
if(angularSpeed < targetAngularSpeed) angularSpeed = targetAngularSpeed;
if(math.abs(angularSpeed) < targetAngularSpeed) angularSpeed = targetAngularSpeed * direction;
#print("AngularSpeed " ~ angularSpeed);
@ -127,9 +129,9 @@ var Engine = {
rpm = angularSpeed * 9.5492966; #//rps * 60
#//Prevent the rpm goes too small
if(rpm * me.getDirection() < 50){
rpm = 50 * me.getDirection();
}
#if(math.abs(rpm) < 50){
# rpm = 50 * direction;
#}
me.rpm = rpm;
@ -165,7 +167,7 @@ var Engine = {
#var cmdPower = throttle * me.ratedPower;
#print("cmdPower: "~cmdPower);
me.cmdTorque = throttle * me.maxTorque * direction;
me.cmdTorque = throttle * me.maxTorque;
me.cmdPower = math.abs(me.rpm * me.cmdTorque / 9549);
if(me.cmdPower >= me.ratedPower){
me.cmdPower = me.ratedPower;