Re: [Speed-dreams-devel] USR-Robot - driving in traffic

[Wolf-Dieter B. <wd...@wd...>]

Hello Xavier,

just watched the USR at Aalborg.

What I see is:

The car starts to steer into the curve much too early and drives against the inner barrier again and again. After some research in the USR code I identified the steergain value to be used to scale steering. 

In line 2061 of USR raceline.cpp the variable k1999steer is calculated using steergain.
If I scale steergain down 

steergain *= 0.06;

the car steers close to the inner barrier.

It still hits the outer barrier, but this is caused by the acceleration issue out of slow turns, like simplix has it.

This steering issue should be the reason for the damaging of opponents driving at the inner side as well.

AFAICS the calculation of steergain has to be reworked completely to work correctly at all speed and all tracks.

Cheers

Wolf-Dieter