def step(self, carstate: State, command: Command):
if self.front_stuck > 15:
d = min(carstate.distances_from_edge)
command.accelerator = max(0, min(1, 1.3 - 0.7 * d))
command.gear = -1
command.brake = 0.0
command.clutch = 0.0
command.steering = -1 * carstate.angle * np.pi / (180.0 * 0.785398)
else:
if carstate.speed_x < 3:
command.gear = 1
if carstate.rpm > 8000:
command.gear = min(6, command.gear + 1)
if carstate.rpm < 2500:
command.gear = command.gear - 1
if command.gear <= 0:
command.gear = 1
command.accelerator = 1
command.gear = 1 if carstate.gear <= 0 else carstate.gear
command.brake = 0.0
command.clutch = 0.0
command.steering = carstate.angle * np.pi / (180.0 * 0.785398)
command.steering -= 0.35 * np.sign(
carstate.distance_from_center) * min(
1.5, math.fabs(carstate.distance_from_center))
return True
def step(self, carstate: State, command: Command):
command.accelerator = min(
1, (carstate.distance_from_center -
0.2)**4) #2 - min(carstate.distances_from_edge)
command.gear = -1
command.brake = 0.0
command.clutch = 0.0
command.steering = -1 * carstate.angle * np.pi / (180.0 *
0.785398) * 1.5
return True