Merge branch 'main' of https://github.com/Association-INTech/CoVAPSy

Author: Danura30082

src/HL/Autotech_constant.py

@@ -36,6 +36,6 @@
 ANGLE_LOOKUP = np.linspace(-MAX_ANGLE, MAX_ANGLE, 16)
 SPEED_LOOKUP = np.linspace(MIN_SOFT_SPEED, MAX_SOFT_SPEED, 16)
 
-Temperature = 0.6  # Temperature parameter for softmax function, used to control the sharpness of the distribution resols around 1
+Temperature = 0.7 # Temperature parameter for softmax function, used to control the sharpness of the distribution resols around 1
 # the higher the temperature the more unprobalbe actions become probable, the lower the temperature the more probable actions become probable.
 # In our case Higher temperature means less agressive driving and lower temperature means more aggressive driving.

src/HL/Driver.py

@@ -51,7 +51,7 @@ def ai_update_lidar_camera(self, lidar_data, camera_data):
         return angle, vitesse
 
     def ai_update_lidar(self, lidar_data):
-        lidar_data = np.array(lidar_data, dtype=np.float32)
+        lidar_data = np.array(lidar_data, dtype=np.float32) * 1.6
         # 2 vectors direction and speed. direction is between hard left at index 0 and hard right at index 1. speed is between min speed at index 0 and max speed at index 1
         vect = self.ai_session.run(None, {'input': lidar_data[None]})[0][0]