fix: fix the masters commentary

Author: Markgraf

src/Simulateur/controllers/controllerVehicleDriver/controllerVehicleDriver.py

@@ -8,15 +8,14 @@ def too_close(lidar,dir):
     # if dir==True: we're near the right wall
     R=0.83
     l=len(lidar)
-    forw=lidar[l//2]
+    straight=lidar[l//2]
     if dir:
-        m=min(lidar[l//2:])
+        nearest=min(lidar[l//2:])
     else:
-        m=min(lidar[:l//2])
-    Th=np.arccos(m/forw)
-    if m < R*(1-np.sin(Th)):
-        return True
-    return False
+        nearest=min(lidar[:l//2])
+    theta=np.arccos(nearest/straight)
+    L=R*(1-np.sin(theta))
+    return nearest < L
 
 class State(Enum):
     AI=auto()
@@ -131,9 +130,7 @@ def ai(self):
     def back(self):
         #si mur de "dir": braquer à "dir"" et reculer jusqu'à pouvoir réavancer (distance au mur à vérif)
         lidar,cam=self.observe()[1:]
-        S=0
-        for i in range(len(cam)):
-            S+=cam[i]
+        S=sum(cam)
         dir = S>0
         if dir:
             self.setSteeringAngle(0.33)

src/Simulateur/worlds/.piste1.wbproj

@@ -1,5 +1,5 @@
 Webots Project File version R2025a
-perspectives: 000000ff00000000fd0000000200000001000000870000028afc0200000001fb0000001400540065007800740045006400690074006f007201000000000000028a0000004500ffffff00000003000006c000000150fc0100000002fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000006c00000008700fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000000000000000000006370000028a00000001000000020000000100000008fc00000000
+perspectives: 000000ff00000000fd0000000200000001000000870000028afc0200000001fb0000001400540065007800740045006400690074006f007201000000000000028a0000004500ffffff000000030000050700000150fc0100000002fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000005070000008700fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a0000000000000000000000047e0000028a00000001000000020000000100000008fc00000000
 simulationViewPerspectives: 000000ff00000001000000020000012b000005a50100000002010000000100
 sceneTreePerspectives: 000000ff00000001000000030000001e00000364000000fa0100000002010000000200
 minimizedPerspectives: 000000ff00000000fd0000000200000001000000750000017bfc0200000001fb0000001400540065007800740045006400690074006f007201000000160000017b0000003f00ffffff000000030000039b00000039fc0100000002fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c01000000000000039b0000006900fffffffb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000000000000a000000000000000000000003240000017b00000001000000020000000100000008fc00000000