TXT discovery Ft-bot football (Fussballroboter)

[vleeuwen]

I have (had) the same problem as in viewtopic.php?f=21&t=5488#p40116.
What can help is:
[list]Increasing the motor power (speed) a little bit,
a full accu.
Also uploading the program could be helpful.[/list]

The last three weeks I am busy to understand the algoritme in BAR15 and Triangulation and so on.
Reverse engineering of the program.
Objective:
I like to change the dimensions of the play yard and extend the BAR with an additional line.
The actual 3 lines, with a width dimension of 1 or 2 units, give 5 possibilities.
A 4-th line will give at least 10 possibilities. These can be useful as extra reference points on a longer field side.

The main problem with the complex program is the missing of debug option and a good description of the algorithm.
An other problem is the leak of a generator for an overview of variable, subroutines and were subroutines are be used.
For that I am trying to develop a XML-parser for the .rpp.

The algorithm is not so difficult to understand but the goniometrical expression is a little bit complex.
The BAR15 is not so difficult to understand; not only the width of the black line having their role but also the width of the 2 white lines having their role.