tuning parameters and bug fix

umple · Jul 17, 2018 · c6d5850 · c6d5850
1 parent 410efeb
commit c6d5850
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Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/src/RoverController_FMparameterSets.ump b/src/RoverController_FMparameterSets.ump
@@ -6,7 +6,7 @@ class RoverController {
   const INITIAL_LEADER_HEADSTART_TIME=500;
 
   // Amount of time in ms by default to coast in each cycle
-  const DEFAULT_COAST_TIME=500;
+  const DEFAULT_COAST_TIME=250;
 
   // Constants to control turning
 
@@ -32,7 +32,7 @@ class RoverController {
   const MAX_AMOUNT_BEHIND_BEFORE_THRUST = 13.0;  
 
   // Amount of time in ms by default to thrust each cycle
-  const DEFAULT_THRUST_TIME = 500;
+  const DEFAULT_THRUST_TIME = 250;
 
   // Amount behind leader before we thrust even longer
   const EXTRA_THRUST_NEEDED_DISTANCE = 13.3;

diff --git a/src/RoverController_code-updateData.ump b/src/RoverController_code-updateData.ump
@@ -84,14 +84,19 @@ class FollowerRover {
   void updateOtherData() {
     String qresult = getQuerySocket().send(getNameForCommanding()+",getCompass()");
     Scanner s = new Scanner(qresult);    
-    s.findInLine(getNameForCommanding()+",(\\d+\\.\\d+(?:E-?d+)?);");
+    s.findInLine(getNameForCommanding()+",(\\d+(?:\\.\\d+)(?:E-?d+)?);");
     try {
       MatchResult result = s.match();
       setCompass(Double.parseDouble(result.group(1))); 
     }
     catch(Exception ise) {
-      System.out.println("Could not extract compass: "+qresult);
-      System.exit(-1);
+      if(qresult.substring(qresult.length() - 3).equals(",0;")) {
+        setCompass(0.0);
+      }
+      else {
+        System.out.println("Could not extract compass: "+qresult);
+        System.exit(-1);
+      }
     }       
 
     s.close();