[Krobot-commits] [SCM] krobot branch, master, updated. 0db0f51619bea9184177ca44eda4366ae6d22488

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 0db0f51619bea9184177ca44eda4366ae6d22488
Author: Jérémie Dimino <je...@di...>
Date:   Tue Mar 29 21:06:16 2011 +0200

    [krobot_simulator] Only use angles between -pi and pi.

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

Changes:
diff --git a/info/control2011/src/tools/krobot_simulator.ml b/info/control2011/src/tools/krobot_simulator.ml
index d0da734..806c364 100644
--- a/info/control2011/src/tools/krobot_simulator.ml
+++ b/info/control2011/src/tools/krobot_simulator.ml
@@ -14,6 +14,18 @@ open Lwt_react
 open Krobot_config
 open Krobot_message
 
+let pi = 4. *. atan 1.
+
+let math_mod_float a b =
+  let b2 = b /. 2. in
+  let modf = mod_float a b in
+  if modf > b2 then
+    modf -. b
+  else if modf < -. b2 then
+    modf +. b
+  else
+    modf;;
+
 (* +-----------------------------------------------------------------+
    | Types                                                           |
    +-----------------------------------------------------------------+ *)
@@ -233,7 +245,7 @@ lwt () =
     sim.state <- {
       x = sim.state.x +. dx *. sim_step;
       y = sim.state.y +. dy *. sim_step;
-      theta = sim.state.theta +. dtheta *. sim_step;
+      theta = math_mod_float (sim.state.theta +. dtheta *. sim_step) (2. *. pi);
     };
     sim.internal_state <- {
       theta_l = sim.internal_state.theta_l +. sim_step *. (u1 *. 4. +. u2 *. wheels_distance) /. (2. *. wheels_diameter);


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