From 992bb516417ef774af2db147069f25e9cf8030da Mon Sep 17 00:00:00 2001
From: Jonas Natzer <jonas.natzer@gmail.com>
Date: Mon, 11 Dec 2017 10:43:09 +0100
Subject: [PATCH] Update

---
 setup_linux.sh                    |  1 +
 src/drivers/pid_driver/driver.cpp | 15 ++++++++++++++-
 src/drivers/pid_driver/driver.h   |  1 +
 3 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/setup_linux.sh b/setup_linux.sh
index 824b37e..a3c3bea 100755
--- a/setup_linux.sh
+++ b/setup_linux.sh
@@ -1,6 +1,7 @@
 #! /bin/bash
 
 [ -z "$1" ] && exit 1
+[ ! -d "$1" ] && exit 1
 
 mkdir -p $1/drivers/human 2>/dev/null
 if [ ! -e  $1/drivers/human/car.xml ] || [ drivers/human/car.xml -nt $1/drivers/human/car.xml ]
diff --git a/src/drivers/pid_driver/driver.cpp b/src/drivers/pid_driver/driver.cpp
index af25807..f353234 100644
--- a/src/drivers/pid_driver/driver.cpp
+++ b/src/drivers/pid_driver/driver.cpp
@@ -19,6 +19,7 @@ const float Driver::ABS_MINSPEED = 3.0;                    /* [m/s] */
 const float Y_DIST_TO_MIDDLE = 5.0;
 const float GOAL_POS_Y = -20;
 const float GOAL_POS_X = 0;
+const float MIN_DIST_X = 1;
 
 Driver::Driver(int index) {
     float dt = 0.02;
@@ -90,12 +91,24 @@ void Driver::drive(tCarElt *car, tSituation *s) {
 
 void Driver::handleSteering() {
     float currentPosX = getOpponentDistanceX(opponent[0]);
-    car->ctrl.steer = _pidSteer.step(GOAL_POS_X, 0.0, currentPosX, angle);
+    float goalX = getGoalPosX();
+    std::cout << "goalX: " << goalX << std::endl;
+    car->ctrl.steer = _pidSteer.step(goalX, 0.0, currentPosX, angle);
     if (getSpeed() < 0)
         car->ctrl.steer *= -1;
     std::cout << "Steering: " << car->ctrl.steer << std::endl;
 }
 
+float Driver::getGoalPosX(){
+    float dist = GOAL_POS_X + MIN_DIST_X * std::(1/getOpponentDistanceY(opponent[0]));
+    // Always overtake on the side of the front car, that directs towards the center of the street
+    if(car->_trkPos.toMiddle - getOpponentDistanceX(opponent[0]) < 0){
+        dist *= -1;
+    }
+        // std::cout << car->_trkPos.toMiddle - getOpponentDistanceX(opponent[0]) << std::endl;
+    return dist;
+}
+
 // This decides over the current speed
 void Driver::handleSpeed() {
     // This is for abs
diff --git a/src/drivers/pid_driver/driver.h b/src/drivers/pid_driver/driver.h
index 20ca754..d1fd4f1 100644
--- a/src/drivers/pid_driver/driver.h
+++ b/src/drivers/pid_driver/driver.h
@@ -49,6 +49,7 @@ class Driver {
     float getAccel(tCarElt *car);
     void handleSpeed();
     void handleSteering();
+    float getGoalPosX();
 
     float getBrake(tCarElt *car);
     int getGear(tCarElt *car);