X-Git-Url: https://git.llucax.com/z.facultad/75.68/celdas.git/blobdiff_plain/d605ed0d8da75888ee78a87cd817d5227668867a..02829c0a943fc03f7b6c85d18d2d210395f05086:/trunk/src/breve/Celdas.tz

diff --git a/trunk/src/breve/Celdas.tz b/trunk/src/breve/Celdas.tz
index a8a65f4..b9a63fb 100644
--- a/trunk/src/breve/Celdas.tz
+++ b/trunk/src/breve/Celdas.tz
@@ -4,8 +4,6 @@
 @use Link.
 @use MultiBody.
 
-@define CELDAS_MAX_VELOCITY 30.
-
 PhysicalControl : CeldasControl {
 	% This class is used for building simple vehicle 
 	% simulations.  To create a vehicle simulation, 
@@ -188,10 +186,6 @@ Link : CeldasWheel (aka CeldasWheels) {
 
 	+ variables:
 		joint (object).
-		velocity (float).
-
-	+ to init:
-		velocity = 0.
 
 	- to set-joint to j (object):
 		% Used internally.
@@ -203,15 +197,12 @@ Link : CeldasWheel (aka CeldasWheels) {
 	+ to set-velocity to n (float):
 		% Sets the velocity of this wheel.
 
-		if n > CELDAS_MAX_VELOCITY: n = CELDAS_MAX_VELOCITY.
-		velocity = n.
-
-		joint set-joint-velocity to velocity.
+		joint set-joint-velocity to n.
 
 	+ to get-velocity:
 		% Gets the velocity of this wheel.
 		
-		return velocity.
+		return (joint get-joint-velocity).
 
 }
 
@@ -248,6 +239,8 @@ Link : CeldasSensor (aka CeldasSensors) {
 		% if not, the sensor reading correspond to the previous
 		% iteration.
 
+		return value.
+
 	+ to iterate:
 		i (object).
 		strength, angle (float).
@@ -263,9 +256,7 @@ Link : CeldasSensor (aka CeldasSensors) {
 
 			if angle < sensorAngle: {
 				strength = | (self get-location) - (i get-location) |.
-				strength = 1.0 / (strength * strength) .
-
-				if strength > 10: strength = 10.
+				strength = 100.0 / (strength * strength) .
 
 				if strength > value: value = strength.
 			}