Fixed target values bug

koptilnya/grip_steering/main.txt

@@ -0,0 +1,91 @@
+-- @name Grip Steering
+-- @author DarkSupah
+-- @server
+-- @include ./slave.txt
+Steering = class('Steering')
+
+require('./slave.txt')
+
+local options = {
+    Camber = 0,
+    Caster = 85,
+    Ackermann = 10,
+    Lock = 50
+}
+
+function Steering:_adjustPorts()
+    local inputs = {
+        Axles = 'table',
+        Base = 'entity',
+        LeftSlave = 'entity',
+        RightSlave = 'entity'
+    }
+
+    local outputs = {
+        SteerAngle = 'number',
+        TargetAngle = 'number'
+    }
+
+    wire.adjustPorts(inputs, outputs)
+end
+
+function Steering:_createSlaves()
+    local entities = {wire.ports.LeftSlave, wire.ports.RightSlave}
+    local slaves = {}
+
+    for k, v in pairs(entities) do
+        local slave = Slave:new({
+            Entity = v,
+            IsLeft = k % 2 == 1,
+            Base = wire.ports.Base,
+            Camber = self.slavesConfig.Camber,
+            Caster = self.slavesConfig.Caster,
+            Ackermann = self.slavesConfig.Ackermann
+        })
+
+        table.insert(self.slaves, slave)
+    end
+end
+
+function Steering:_updateOutputs()
+    wire.ports.TargetAngle = self.targetAngle
+end
+
+function Steering:initialize(options)
+    options = options or {}
+
+    self.slavesConfig = {
+        Camber = options.Camber,
+        Caster = options.Caster,
+        Ackermann = options.Ackermann
+    }
+
+    self.lock = 50
+
+    self.targetAngle = 0
+    self.angle = 0
+
+    self.slaves = {}
+
+    self:_adjustPorts()
+    self:_createSlaves()
+end
+
+function Steering:update()
+    local horizontal = wire.ports.Axles.Horizontal.Value
+
+    self.targetAngle = horizontal * self.lock
+    self.angle = -horizontal * self.lock
+
+    for k, v in pairs(self.slaves) do
+        v:rotate(self.angle)
+    end
+
+    self:_updateOutputs()
+end
+
+local steering = Steering:new(options)
+
+hook.add('think', 'SteeringUpdate', function()
+    steering:update()
+end)

koptilnya/grip_steering/slave.txt

@@ -0,0 +1,25 @@
+Slave = class('Slave')
+
+function Slave:initialize(options)
+    options = options or {}
+
+    self.entity = options.Entity
+    self.base = options.Base
+
+    self.camber = options.Camber
+    self.caster = options.Caster
+    self.ackermann = options.Ackermann
+    self.isLeft = options.IsLeft
+end
+
+function Slave:rotate(ang)
+    if self.entity:isFrozen() == false then
+        self.entity:setFrozen(1)
+    end
+
+    local angle = Angle(0, ang, 0)
+    local transformedAngle = self.base:localToWorldAngles(angle)
+
+    self.entity:setAngles(transformedAngle)
+    -- rotate slave here
+end