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| author | David Thorén <davth346@student.liu.se> | 2019-11-29 11:57:58 +0100 |
|---|---|---|
| committer | David Thorén <davth346@student.liu.se> | 2019-11-29 11:57:58 +0100 |
| commit | 060917e858887792b74fa9c50491de70976ff84a (patch) | |
| tree | b75b2caec9904d7e1cfdaa806c8794915601ac88 /Kod/bilbana/yc4/do_gov.m | |
| parent | d53437276c6a1e6866556f3beb2e3a2502351592 (diff) | |
| parent | eb9ecb33847612eca9d48dd3a88b4cf1396b70dd (diff) | |
| download | tfyy51-060917e858887792b74fa9c50491de70976ff84a.tar.gz | |
Merge branch 'master' of gitlab.liu.se:vehsys/tfyy51/yc4_2019
Diffstat (limited to 'Kod/bilbana/yc4/do_gov.m')
| -rw-r--r-- | Kod/bilbana/yc4/do_gov.m | 29 |
1 files changed, 24 insertions, 5 deletions
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m index 5f89c57..8ebea57 100644 --- a/Kod/bilbana/yc4/do_gov.m +++ b/Kod/bilbana/yc4/do_gov.m @@ -1,11 +1,30 @@ function [ car ] = do_gov( car ) %UNTITLED Summary of this function goes here % Detailed explanation goes here -if car.new_lap - % TODO calculate stuff +if car.new_lap && car.lap > 1 % annars höjer den typ alltid första varvet + last_lap_time = car.lap_times(car.lap - 1); + time_diff = last_lap_time - car.ref_time; % diff >0 => car is too slow, go faster + car.constant = car.constant + (time_diff / car.ref_time) * 0.1; elseif car.new_check_point && (car.segment == 5 || car.segment == 8) - status = car.forecasts(car.lap, car.segment-1)/car.ref_time; - car.constant = car.constant + (status - 1) * 0.08; - car.governs(length(car.governs) + 1) = car.constant; + if car.lap == 1 + status = car.forecasts_naive(car.lap, car.segment-1)/car.ref_time; + else + status = car.forecasts(car.lap, car.segment-1)/car.ref_time; + end + car.constant = car.constant + (status - 1) * 0.08; + car.governs(length(car.governs) + 1) = car.constant; + %{ + if car.lap > 1 && (car.segment == 5 || car.segment == 8) + car.lap_now = toc(car.lap_tic); + norm_const = 1/(sum(car.percents(1:9))); + norm_list = car.percents * norm_const; + sum_percent = sum(norm_list(1:car.segment)); + exp_time = car.ref_time * sum_percent; + + status = car.lap_now/exp_time; + car.constant = car.constant + (status - 1) * 0.08; + car.governs(length(car.governs) + 1) = car.constant; + end + %} end |