modified: include/vehicle.h

modified: src/graphics.c modified: src/pathplanner.c
ckevar · Jan 20, 2019 · b1e12a7 · b1e12a7
1 parent 6821ee3
commit b1e12a7
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/include/vehicle.h b/include/vehicle.h
@@ -19,7 +19,7 @@
 #define	V_REF	20.0
 
 // VELOCITY BOUNDARIES
-#define MAX_VEL_CAR	25
+#define MAX_VEL_CAR	40
 #define MIN_VEL_CAR	0
 
 /***** Real-Time Task *****/

diff --git a/src/graphics.c b/src/graphics.c
@@ -162,7 +162,7 @@ void initStatDisplay(){
 		240, INFO_COL, -1);
 
 	drawNCars(0);
-	drawGVel(0);
+	drawGVel(20);
 
 	snprintf(s, sizeof(int), "%d", dmiss);
 	textout_centre_ex(screen, font, s, (N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 60,

diff --git a/src/pathplanner.c b/src/pathplanner.c
@@ -287,9 +287,12 @@ char pathPlanner(vehicle_t *c) {
 		/******** CROSSROAD RESPONSE ********/
 		if (!c->isTime2Steer) {
 			keepCertainDistanceFromBlock(c, DST_FROM_LEFT_SIDEBLOCK);	// keep safe distance from blocks
-			if (imf.stCorner.N == 2) {
-				check2turnAround(c, &imf);
-
+			if (imf.stCorner.N){
+				if(c->Vr > 20)	c->Vr = c->Vr-10;
+				//printf("%f\n", c->vel);
+				if(imf.stCorner.N== 2) {
+					check2turnAround(c, &imf);
+				}
 			}
 			if ((imf.stCorner.x[0] < DST_TO_STEER) && (imf.stCorner.N)) {
 				chooseSteering(c, &imf);	// the vehicle will go left, right or straigh