Steering: experience improved(more)
This commit is contained in:
Valk Richard Li
GitHub
parent
7067596757
commit
4ba55f833c
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@ -1,157 +1,170 @@
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#//Followme EV steering system by Sidi Liang
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var cache = {
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new: func return { parents:[cache] };
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};
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var memoize = { callback:nil };
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memoize.new = func(code) {
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return { parents:[memoize], callback:code, cache:cache.new() };
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}
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memoize._save = func(value) me.cache[value] = me.callback(value);
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memoize.lookup = func(value) {
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var found = me.cache[value];
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if (found) {
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#//print("cached:",found,"\n");
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return found;
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}
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#//print("Calculated:", value);
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return me._save(value);
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}
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var Steering = {
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new: func() {
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print("Steering system initialized!");
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return {parents:[Steering]};
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},
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mode: 0, #//0: direct; 1: advanced
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debugMode: 0,
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input: 0, #//-1: left, 1:right, 0: none
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command: 0, #//Steering command, range from -1 to 1
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steeringAngle: 0, #//in rad
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steeringAngleDeg: 0, #//in degrees
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steeringLimit: 15.707963, #// 5 * 3.1415926
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powPointThree: memoize.new( func(value){
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return math.pow(value, 0.3);
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}),
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powPointOne: memoize.new( func(value){
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return math.pow(value, 0.1);
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}),
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steeringStep:func(rad){
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return 0.1 * me.powPointOne.lookup(sprintf("%.1f", math.abs(rad))) + 0.04;
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},
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neutralStep: func(rad){
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var speed = props.getNode("/", 1).getValue("sim/multiplay/generic/float[15]");
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return 0.01 * me.powPointThree.lookup(sprintf("%.1f", math.abs(speed))) * math.abs(rad);
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},
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mainLoop: func(){
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if(math.abs(me.steeringAngle) <= 0.2 and me.input == 0) me.steeringAngle = 0;
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if(me.input == 0 and me.steeringAngle == 0){
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me.stopTimer();
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return 0;
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}else if(me.input == 0 and me.steeringAngle > 0.05){
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me.steeringAngle -= me.neutralStep(me.steeringAngle);
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}else if(me.input == 0 and me.steeringAngle < -0.05){
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me.steeringAngle += me.neutralStep(me.steeringAngle);
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}else if(me.input == 1 and me.steeringAngle < me.steeringLimit){
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if(me.steeringAngle < 0){
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me.steeringAngle += me.neutralStep(me.steeringAngle);
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me.steeringAngle += 0.35 * me.input;
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}else{
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me.steeringAngle += me.steeringStep(me.steeringAngle);
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}
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}else if(me.input == -1 and me.steeringAngle > 0 - me.steeringLimit){
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if(me.steeringAngle > 0){
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me.steeringAngle -= me.neutralStep(me.steeringAngle);
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me.steeringAngle -= 0.35;
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}else{
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me.steeringAngle -= me.steeringStep(me.steeringAngle);
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}
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}
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me.command = me.steeringAngle / me.steeringLimit; #//The steering wheel could rotate for two circles and a half
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me.steeringAngleDeg = me.steeringAngle * R2D;
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props.getNode("/",1).setValue("/controls/flight/rudder", me.command);
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props.getNode("/",1).setValue("/controls/steering_wheel", me.steeringAngleDeg);
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if(me.debugMode) print("Steering system command:" ~ me.command);
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if(me.debugMode) print("Steering system angle rad:" ~ me.steeringAngle);
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if(me.debugMode) print("Steering system angle degrees:" ~ me.steeringAngleDeg);
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},
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inputLeft: func(){
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me.input = -1;
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if(!me.mode){
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me.command = -0.5;
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me.steeringAngleDeg = me.steeringLimit * me.command * R2D;
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props.getNode("/",1).setValue("/controls/flight/rudder", me.command);
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props.getNode("/",1).setValue("/controls/steering_wheel", me.steeringAngleDeg);
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}else if(me.mode and !me.timerStarted){
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me.startTimer();
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}
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},
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inputRight: func(){
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me.input = 1;
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if(!me.mode){
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me.command = 0.5;
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me.steeringAngleDeg = me.steeringLimit * me.command * R2D;
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props.getNode("/",1).setValue("/controls/flight/rudder", me.command);
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props.getNode("/",1).setValue("/controls/steering_wheel", me.steeringAngleDeg);
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}else if(me.mode and !me.timerStarted){
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me.startTimer();
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}
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},
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neutral: func(){
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me.input = 0;
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if(!me.mode){
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me.command = 0;
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me.steeringAngleDeg = me.steeringLimit * me.command * R2D;
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props.getNode("/",1).setValue("/controls/flight/rudder", me.command);
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props.getNode("/",1).setValue("/controls/steering_wheel", me.steeringAngleDeg);
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}else if(me.mode and !me.timerStarted){
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me.startTimer();
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}
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},
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steeringTimer: nil,
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timerCreated: 0,
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timerStarted: 0,
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startTimer: func(){
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if(!me.timerCreated){
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me.steeringTimer = maketimer(0.01, func me.mainLoop());
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me.timerCreated = 1;
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me.steeringTimer.simulatedTime = 1;
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if(me.debugMode) print("Steering system timer created!");
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}
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me.steeringTimer.start();
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me.timerStarted = 1;
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if(me.debugMode) print("Steering system timer started!");
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},
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stopTimer: func(){
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me.steeringTimer.stop();
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me.timerStarted = 0;
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if(me.debugMode) print("Steering system timer stopped!");
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},
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};
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var steeringAssistance = Steering.new();
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addcommand("enableAdvancedSteering", func() {
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steeringAssistance.mode = 1;
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print("Advanced Steering Enabled");
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});
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addcommand("disableAdvancedSteering", func() {
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steeringAssistance.mode = 0;
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print("Advanced Steering Disabled");
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});
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#//Followme EV steering system by Sidi Liang
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var cache = {
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new: func return { parents:[cache] };
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};
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var memoize = { callback:nil };
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memoize.new = func(code) {
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return { parents:[memoize], callback:code, cache:cache.new() };
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}
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memoize._save = func(value) me.cache[value] = me.callback(value);
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memoize.lookup = func(value) {
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var found = me.cache[value];
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if (found) {
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#//print("cached:",found,"\n");
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return found;
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}
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#//print("Calculated:", value);
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return me._save(value);
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}
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var Steering = {
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new: func() {
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print("Steering system initialized!");
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return {parents:[Steering]};
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},
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mode: 0, #//0: direct; 1: advanced
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debugMode: 0,
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input: 0, #//-1: left, 1:right, 0: none
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command: 0, #//Steering command, range from -1 to 1
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steeringAngle: 0, #//in rad
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steeringAngleDeg: 0, #//in degrees
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steeringLimit: 15.707963, #// 5 * 3.1415926
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powPointThree: memoize.new( func(value){
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return math.pow(value, 0.3);
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}),
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powPointOne: memoize.new( func(value){
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return math.pow(value, 0.1);
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}),
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steeringStep:func(rad){
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return 0.1 * me.powPointOne.lookup(sprintf("%.1f", math.abs(rad))) + 0.04;
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},
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neutralStep: func(rad){
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var speed = props.getNode("/", 1).getValue("sim/multiplay/generic/float[15]");
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return 0.01 * me.powPointThree.lookup(sprintf("%.1f", math.abs(speed))) * math.abs(rad);
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},
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mainLoop: func(){
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if(me.input == 0)
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{
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if(math.abs(me.steeringAngle) <=0.2)
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me.steeringAngle = 0;
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if(me.steeringAngle == 0)
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{
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me.stopTimer();
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return 0;
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}
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else if(me.steeringAngle > 0.05)
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me.steeringAngle -= me.neutralStep(me.steeringAngle);
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else if(me.steeringAngle < -0.05)
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me.steeringAngle += me.neutralStep(me.steeringAngle);
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}
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else if(me.input == 1 and me.steeringAngle < me.steeringLimit)
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{
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if(me.steeringAngle < 0)
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{
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me.steeringAngle += me.neutralStep(me.steeringAngle);
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me.steeringAngle += 0.35 * me.input;
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}
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else
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me.steeringAngle += me.steeringStep(me.steeringAngle);
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}
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else if(me.input == -1 and me.steeringAngle > (-me.steeringLimit))
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{
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if(me.steeringAngle > 0)
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{
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me.steeringAngle -= me.neutralStep(me.steeringAngle);
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me.steeringAngle -= 0.35;
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}
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else
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me.steeringAngle -= me.steeringStep(me.steeringAngle);
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}
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me.command = me.steeringAngle / me.steeringLimit; #//The steering wheel could rotate for two circles and a half
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me.steeringAngleDeg = me.steeringAngle * R2D;
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props.getNode("/",1).setValue("/controls/flight/rudder", me.command);
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props.getNode("/",1).setValue("/controls/steering_wheel", me.steeringAngleDeg);
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if(me.debugMode)
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{
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print("Steering system command:" ~ me.command);
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print("Steering system angle rad:" ~ me.steeringAngle);
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print("Steering system angle degrees:" ~ me.steeringAngleDeg);
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}
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},
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inputLeft: func(){
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me.input = -1;
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if(!me.mode){
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me.command = -0.5;
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me.steeringAngleDeg = me.steeringLimit * me.command * R2D;
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props.getNode("/",1).setValue("/controls/flight/rudder", me.command);
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props.getNode("/",1).setValue("/controls/steering_wheel", me.steeringAngleDeg);
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}else if(me.mode and !me.timerStarted){
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me.startTimer();
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}
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},
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inputRight: func(){
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me.input = 1;
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if(!me.mode){
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me.command = 0.5;
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me.steeringAngleDeg = me.steeringLimit * me.command * R2D;
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props.getNode("/",1).setValue("/controls/flight/rudder", me.command);
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props.getNode("/",1).setValue("/controls/steering_wheel", me.steeringAngleDeg);
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}else if(me.mode and !me.timerStarted){
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me.startTimer();
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}
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},
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neutral: func(){
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me.input = 0;
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if(!me.mode){
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me.command = 0;
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me.steeringAngleDeg = me.steeringLimit * me.command * R2D;
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props.getNode("/",1).setValue("/controls/flight/rudder", me.command);
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props.getNode("/",1).setValue("/controls/steering_wheel", me.steeringAngleDeg);
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}else if(me.mode and !me.timerStarted){
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me.startTimer();
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}
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},
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steeringTimer: nil,
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timerCreated: 0,
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timerStarted: 0,
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startTimer: func(){
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if(!me.timerCreated){
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me.steeringTimer = maketimer(0.01, func me.mainLoop());
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me.timerCreated = 1;
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me.steeringTimer.simulatedTime = 1;
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if(me.debugMode) print("Steering system timer created!");
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}
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me.steeringTimer.start();
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me.timerStarted = 1;
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if(me.debugMode) print("Steering system timer started!");
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},
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stopTimer: func(){
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me.steeringTimer.stop();
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me.timerStarted = 0;
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if(me.debugMode) print("Steering system timer stopped!");
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},
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};
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var steeringAssistance = Steering.new();
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addcommand("enableAdvancedSteering", func() {
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steeringAssistance.mode = 1;
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print("Advanced Steering Enabled");
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});
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addcommand("disableAdvancedSteering", func() {
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steeringAssistance.mode = 0;
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print("Advanced Steering Disabled");
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});
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