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| author | Mattias Uvesten <matuv053@student.liu.se> | 2019-12-02 21:27:21 +0100 |
|---|---|---|
| committer | Mattias Uvesten <matuv053@student.liu.se> | 2019-12-02 21:27:21 +0100 |
| commit | cf76f528129877b94988c38d14daced605cbaa71 (patch) | |
| tree | 832985d93d096caa9faf5a24839cbe6c88d9c062 /Kod/bilbana/yc4/get_approx_v.m | |
| parent | 34d01a5dc128f3a1819c36b7f9e93d07532fcbdb (diff) | |
| parent | dfe52de86d600654343968fea54a189f1ec9e8cc (diff) | |
| download | tfyy51-cf76f528129877b94988c38d14daced605cbaa71.tar.gz | |
Merge branch 'master' of https://gitlab.liu.se/vehsys/tfyy51/yc4_2019
Diffstat (limited to 'Kod/bilbana/yc4/get_approx_v.m')
| -rw-r--r-- | Kod/bilbana/yc4/get_approx_v.m | 28 |
1 files changed, 28 insertions, 0 deletions
diff --git a/Kod/bilbana/yc4/get_approx_v.m b/Kod/bilbana/yc4/get_approx_v.m new file mode 100644 index 0000000..0878a9b --- /dev/null +++ b/Kod/bilbana/yc4/get_approx_v.m @@ -0,0 +1,28 @@ +function [v] = get_approx_v(cur_seg, car) +%GET_APROX_V Retunerar medelhastiheten för nuvarande segment från tidigare +%varv +%{ +In: + cur_seg: Nuvarande segment + car: en struct - se do_car.m +Ut: + v: Uppskattning av nuvarande hastiheten [m/s] +%} +lap = car.lap; +if cur_seg > 9 + cur_seg = cur_seg - 9; +end +%% Kompensera för väldigt långsamt segment 1 första varvet +if cur_seg == 1 && lap == 2 + v = car.seg_len(1)/(1.4*car.seg_times(1,9)); + return +end +%% Sätt v +while lap > 0 + lap = lap - 1; + if car.seg_times(lap, cur_seg) ~= 0 + v = car.seg_len(cur_seg) / car.seg_times(lap, cur_seg); + return + end +end +end |