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Minor tweak and update.

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This commit is contained in:
Joe Ardent 2022-03-15 18:39:59 -07:00
parent 139b8af742
commit 464e64f271
3 changed files with 25 additions and 20 deletions
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29
Cargo.lock generated
View file

@ -1001,9 +1001,9 @@ dependencies = [
[[package]] [[package]]
name = "crossbeam-channel" name = "crossbeam-channel"
version = "0.5.2" version = "0.5.3"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e54ea8bc3fb1ee042f5aace6e3c6e025d3874866da222930f70ce62aceba0bfa" checksum = "fdbfe11fe19ff083c48923cf179540e8cd0535903dc35e178a1fdeeb59aef51f"
dependencies = [ dependencies = [
"cfg-if 1.0.0", "cfg-if 1.0.0",
"crossbeam-utils", "crossbeam-utils",
@ -1022,10 +1022,11 @@ dependencies = [
[[package]] [[package]]
name = "crossbeam-epoch" name = "crossbeam-epoch"
version = "0.9.7" version = "0.9.8"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c00d6d2ea26e8b151d99093005cb442fb9a37aeaca582a03ec70946f49ab5ed9" checksum = "1145cf131a2c6ba0615079ab6a638f7e1973ac9c2634fcbeaaad6114246efe8c"
dependencies = [ dependencies = [
"autocfg",
"cfg-if 1.0.0", "cfg-if 1.0.0",
"crossbeam-utils", "crossbeam-utils",
"lazy_static", "lazy_static",
@ -1035,9 +1036,9 @@ dependencies = [
[[package]] [[package]]
name = "crossbeam-queue" name = "crossbeam-queue"
version = "0.3.4" version = "0.3.5"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4dd435b205a4842da59efd07628f921c096bc1cc0a156835b4fa0bcb9a19bcce" checksum = "1f25d8400f4a7a5778f0e4e52384a48cbd9b5c495d110786187fc750075277a2"
dependencies = [ dependencies = [
"cfg-if 1.0.0", "cfg-if 1.0.0",
"crossbeam-utils", "crossbeam-utils",
@ -1045,9 +1046,9 @@ dependencies = [
[[package]] [[package]]
name = "crossbeam-utils" name = "crossbeam-utils"
version = "0.8.7" version = "0.8.8"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b5e5bed1f1c269533fa816a0a5492b3545209a205ca1a54842be180eb63a16a6" checksum = "0bf124c720b7686e3c2663cf54062ab0f68a88af2fb6a030e87e30bf721fcb38"
dependencies = [ dependencies = [
"cfg-if 1.0.0", "cfg-if 1.0.0",
"lazy_static", "lazy_static",
@ -1164,9 +1165,9 @@ dependencies = [
[[package]] [[package]]
name = "erased-serde" name = "erased-serde"
version = "0.3.18" version = "0.3.19"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "56047058e1ab118075ca22f9ecd737bcc961aa3566a3019cb71388afa280bd8a" checksum = "2df1bebfbf6d5e523e871439e5bd41d80a617b5a796cca0d616b9b30edf3c04d"
dependencies = [ dependencies = [
"serde", "serde",
] ]
@ -1589,9 +1590,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
[[package]] [[package]]
name = "libc" name = "libc"
version = "0.2.119" version = "0.2.120"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1bf2e165bb3457c8e098ea76f3e3bc9db55f87aa90d52d0e6be741470916aaa4" checksum = "ad5c14e80759d0939d013e6ca49930e59fc53dd8e5009132f76240c179380c09"
[[package]] [[package]]
name = "libloading" name = "libloading"
@ -2600,9 +2601,9 @@ checksum = "8fb1df15f412ee2e9dfc1c504260fa695c1c3f10fe9f4a6ee2d2184d7d6450e2"
[[package]] [[package]]
name = "syn" name = "syn"
version = "1.0.87" version = "1.0.88"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1e59d925cf59d8151f25a3bedf97c9c157597c9df7324d32d68991cc399ed08b" checksum = "ebd69e719f31e88618baa1eaa6ee2de5c9a1c004f1e9ecdb58e8352a13f20a01"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",

12
src/action.rs
View file

@ -47,19 +47,23 @@ fn falling_cat_pid(
let derivative = error - control_vars.previous; let derivative = error - control_vars.previous;
control_vars.previous = error; control_vars.previous = error;
let integral = (control_vars.sum * 0.6) + error; let integral = (control_vars.sum * 0.8) + error;
control_vars.sum = integral; control_vars.sum = integral;
let proportional = error; let proportional = error;
let kp = 7.0; let kp = 7.1;
let ki = 0.19; let ki = 0.10;
let kd = 4.4; let kd = 5.1;
let mag = (kp * proportional) + (ki * integral) + (kd * derivative); let mag = (kp * proportional) + (ki * integral) + (kd * derivative);
let torque = xform.back() * mag; let torque = xform.back() * mag;
if xform.forward().dot(up).abs() < 0.55 {
forces.torque = torque.into(); forces.torque = torque.into();
} else {
forces.torque = Vec3::ZERO.into();
}
} }
fn drag( fn drag(

2
src/bike.rs
View file

@ -1,4 +1,4 @@
use bevy::{prelude::*, utils::Instant}; use bevy::prelude::*;
use bevy_rapier3d::prelude::*; use bevy_rapier3d::prelude::*;
use crate::planet::PLANET_RADIUS; use crate::planet::PLANET_RADIUS;