VMG works correctly, auto pilot is interupted by a repeated keypress or an upwind/downwind press.

tags: #story[1105]

src/main/java/seng302/model/Yacht.java

@@ -176,12 +176,15 @@ public class Yacht {
      * Swaps the boats direction from one side of the wind to the other.
      */
     public void tackGybe(Double windDirection) {
+        if (isAuto) {
+            disableAutoPilot();
+        } else {
             Double normalizedHeading = normalizeHeading();
             Double newVal = (-2 * normalizedHeading) + heading;
-        //newVal += heading;
             Double newHeading = (double) Math.floorMod(newVal.longValue(), 360L);
             setAutoPilot(newHeading);
         }
+    }
 
     /**
      * Enables the boats auto pilot feature, which will move the boat towards a given heading.
@@ -220,6 +223,7 @@ public class Yacht {
     }
 
     public void turnUpwind() {
+        disableAutoPilot();
         Double normalizedHeading = normalizeHeading();
         if (normalizedHeading == 0) {
             if (lastHeading < 180) {
@@ -241,6 +245,7 @@ public class Yacht {
     }
 
     public void turnDownwind() {
+        disableAutoPilot();
         Double normalizedHeading = normalizeHeading();
         if (normalizedHeading == 0) {
             if (lastHeading < 180) {
@@ -261,26 +266,37 @@ public class Yacht {
         }
     }
 
+    /**
+     * Takes the VMG from the polartable for upwind or downwind depending on the boats direction,
+     * and uses this to calculate a heading to move the yacht towards.
+     */
     public void turnToVMG() {
-        // TODO: 10/08/17 ajm412: The way this works is absolute rubbish. Needs to determine upwind/downwind, then which side of the wind, then move to the correct values.
+        if (isAuto) {
+            disableAutoPilot();
+        } else {
             Double normalizedHeading = normalizeHeading();
             Double optimalHeading;
             HashMap<Double, Double> optimalPolarMap;
 
             if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind
                 optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots());
-            optimalHeading = optimalPolarMap.keySet().iterator().next();
             } else {
                 optimalPolarMap = PolarTable.getOptimalUpwindVMG(GameState.getWindSpeedKnots());
+            }
             optimalHeading = optimalPolarMap.keySet().iterator().next();
+
+            if (normalizedHeading > 180) {
+                optimalHeading = 360 - optimalHeading;
             }
 
             // Take optimal heading and turn into a boat heading rather than a wind heading.
             optimalHeading =
-            optimalHeading + (double) Math.floorMod(GameState.getWindDirection().longValue(), 360L);
+                optimalHeading + (double) Math
+                    .floorMod(GameState.getWindDirection().longValue(), 360L);
 
             setAutoPilot(optimalHeading);
         }
+    }
 
     /**
      * Takes a given heading and rotates the boat towards that heading.
@@ -290,7 +306,6 @@ public class Yacht {
      * @param newHeading The heading to turn the yacht towards.
      */
     private void turnTowardsHeading(Double newHeading) {
-        System.out.println(newHeading);
         Double newVal = heading - newHeading;
         if (Math.floorMod(newVal.longValue(), 360L) > 180) {
             adjustHeading(TURN_STEP);