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| author | alex <aletu130@student.liu.se> | 2019-11-26 16:49:07 +0100 |
|---|---|---|
| committer | alex <aletu130@student.liu.se> | 2019-11-26 16:49:07 +0100 |
| commit | 6d397e0826d9d09cd7a6973513d38cd993bd2779 (patch) | |
| tree | e70b0c5a99f47ef383247663b558e0cf8908bbac /Kod/bilbana/yc4/do_boot.m | |
| parent | cf90eccbbbc8b016626a746df45ec84dd07b477a (diff) | |
| download | tfyy51-6d397e0826d9d09cd7a6973513d38cd993bd2779.tar.gz | |
Massa arbeten
Diffstat (limited to 'Kod/bilbana/yc4/do_boot.m')
| -rw-r--r-- | Kod/bilbana/yc4/do_boot.m | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m index 44ae1e7..5019319 100644 --- a/Kod/bilbana/yc4/do_boot.m +++ b/Kod/bilbana/yc4/do_boot.m @@ -45,10 +45,14 @@ if car.running == true %% %% end - - %% END BOOTSTRAP - if car.segment > 2 + if car.segment > 3 + disp(car.constant); + seg_time = car.seg_times(1, 3) + laptime_forecast = seg_time / 0.102 + forecast_ref_diff = laptime_forecast - car.ref_time + forecast_ref_diff_rel = forecast_ref_diff / car.ref_time + car.constant = car.constant + (forecast_ref_diff_rel * 0.15) boot.status = 0; disp('END OF BOOTSTRAP') disp(car.num) |