[Krobot-commits] [SCM] krobot branch, master, updated. 09cc51bf25cafe064191d4b69a7f66c2a4bb2312

[Nicolas D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 09cc51bf25cafe064191d4b69a7f66c2a4bb2312
Author: Nicolas Dandrimont <Nic...@cr...>
Date:   Tue Mar 29 18:01:29 2011 +0200

    [krobot_simulator] Support negative angles for turn.

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/tools/krobot_simulator.ml b/info/control2011/src/tools/krobot_simulator.ml
index 055acba..72f0182 100644
--- a/info/control2011/src/tools/krobot_simulator.ml
+++ b/info/control2011/src/tools/krobot_simulator.ml
@@ -116,9 +116,10 @@ let turn sim angle velocity acceleration =
         sim.command_end <- sim.time +. t_end
       end
     end else begin
-      let t_acc = sqrt (angle /. acceleration) in
+      let t_acc = sqrt (abs_float (angle) /. acceleration) in
       let t_end = 2. *. t_acc in
-      let velocity = acceleration *. t_acc in
+      let sign = if angle >= 0. then 1. else -1. in
+      let velocity = sign *. acceleration *. t_acc in
       if t_acc <> 0. then begin
         sim.command <- Turn(t_acc, velocity);
         sim.command_start <- sim.time;


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