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feat: unloader alignment to moving combine #807

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Merged
Tensuko merged 2 commits into from
Apr 26, 2025
Merged

feat: unloader alignment to moving combine #807

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aff399e
feat: unloader alignment to moving combine
Apr 24, 2025
e16582d
more tolerance
Tensuko Apr 24, 2025
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7 changes: 6 additions & 1 deletion scripts/ai/strategies/AIDriveStrategyUnloadCombine.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -1212,7 +1212,12 @@ end
function AIDriveStrategyUnloadCombine:isLinedUpWithPipe(dx, dz, pipeOffset, debugEnabled)
-- allow more offset when further away from the pipe, this is +- 50 cm at the pipe and grows
-- 25 cm with every meter, which is about 30 degrees (15 left and 15 right)
local tolerance = 0.25 + 0.5 * math.abs(dz)
local tolerance = 0.55 + 0.5 * math.abs(dz)
local combineSpeed = self.combineToUnload.lastSpeedReal * 3600
if combineSpeed > 6 then
-- when the combine is moving, we can be more tolerant as we'll have a lot more space to align
tolerance = 2 * tolerance
end
self:debugIf(debugEnabled, 'isLinedUpWithPipe: dx > pipe offset +- tolerance (%.1f > %.1f +- %.1f) at dz: %.1f',
dx, pipeOffset, tolerance, dz)
return dx > pipeOffset - tolerance and dx < pipeOffset + tolerance
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