Little bit more massaging for clarity (replace avgImpulse with impulse)

This commit is contained in:
Joe Pfeiffer 2018-08-26 16:32:44 -06:00
parent c089e3ecb7
commit d2cdea2113

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@ -318,26 +318,26 @@ public class ThrustCurveMotor implements Motor, Comparable<ThrustCurveMotor>, Se
return (startThrust + endThrust) / 2.0; return (startThrust + endThrust) / 2.0;
} }
double avgImpulse = 0.0; double impulse = 0.0;
// portion from startTime through time[timeIndex+1] // portion from startTime through time[timeIndex+1]
double startThrust = MathUtil.map(startTime, time[timeIndex], time[timeIndex+1], thrust[timeIndex], thrust[timeIndex+1]); double startThrust = MathUtil.map(startTime, time[timeIndex], time[timeIndex+1], thrust[timeIndex], thrust[timeIndex+1]);
avgImpulse = (time[timeIndex+1] - startTime) * (startThrust + thrust[timeIndex+1]) / 2.0; impulse = (time[timeIndex+1] - startTime) * (startThrust + thrust[timeIndex+1]) / 2.0;
// Now add the whole steps; // Now add the whole steps;
timeIndex++; timeIndex++;
while ( timeIndex < time.length -1 && endTime >= time[timeIndex+1] ) { while ( timeIndex < time.length -1 && endTime >= time[timeIndex+1] ) {
avgImpulse += (time[timeIndex+1] - time[timeIndex]) * (thrust[timeIndex] + thrust[timeIndex+1]) / 2.0; impulse += (time[timeIndex+1] - time[timeIndex]) * (thrust[timeIndex] + thrust[timeIndex+1]) / 2.0;
timeIndex++; timeIndex++;
} }
// Now add the bit after the last time index // Now add the bit after the last time index
if ( timeIndex < time.length -1 ) { if ( timeIndex < time.length -1 ) {
double endThrust = MathUtil.map( endTime, time[timeIndex], time[timeIndex+1], thrust[timeIndex], thrust[timeIndex+1]); double endThrust = MathUtil.map( endTime, time[timeIndex], time[timeIndex+1], thrust[timeIndex], thrust[timeIndex+1]);
avgImpulse += ((thrust[timeIndex] + endThrust) / 2.0) * (endTime - time[timeIndex]); impulse += ((thrust[timeIndex] + endThrust) / 2.0) * (endTime - time[timeIndex]);
} }
return avgImpulse / (endTime - startTime); return impulse / (endTime - startTime);
} }
@Override @Override