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| author | Albin <albwa833@student.liu.se> | 2019-11-08 09:37:51 +0100 |
|---|---|---|
| committer | Albin <albwa833@student.liu.se> | 2019-11-08 09:37:51 +0100 |
| commit | 84a1ee353c4d5de456254828542d4b604781db23 (patch) | |
| tree | 754d34a1ce2806544a7080ac81ff86baf815b9d8 /Kod/bilbana/yc4/main.m | |
| parent | 6b5407016b7d330318075cfe0d0f58cc2e4559af (diff) | |
| download | tfyy51-84a1ee353c4d5de456254828542d4b604781db23.tar.gz | |
Försökte felsöka och lade till timer för eventuell missad givare
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 21 |
1 files changed, 13 insertions, 8 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 33b6944..2d450b1 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -33,6 +33,7 @@ car1.seg_times = []; car1.position = 0; car1.seg_len = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57]; car1.approximation = []; +car1.miss_time = uint64(0); %{ car2 = struct; @@ -105,32 +106,36 @@ while 1 last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9); aprox_v = get_aprox_v(car1.segment, last_seg_times1); car1.position = get_position(aprox_v, car1.position, t); + if detect_missed( car1.position, car1.segment, 1) + disp('Miss?'); + disp(toc(car1.miss_time)); + if car1.miss_time == 0 + car1.miss_time = tic; + end + end end if car1.new_check_point == true - if car1.new_lap == false + if car1.new_lap == false % choose_position krachar vid nytt varv (seg 10) if car1.lap ~= 0 car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic); end car1.segment = car1.segment + 1; car1.seg_tic = tic; - %approximation = car1.position; % Måste vara innan nästa rad - %car1.position = car1.seg_len(car1.segment); - % Jämför get_position med indata - %approximation = approximation - car1.position; - %car1.approximation(car1.lap, car1.segment) = approximation; - if car1.lap > 2 %Säkerhetsmarginal (Bör vara 1?) + if car1.lap > 2 % Säkerhetsmarginal (Bör vara 1?) disp(car1); [car1.position, seg_plus] = ... choose_position(car1.position,car1.segment, 1); %car1.position = x(1); car1.segment = car1.segment + seg_plus; + car1.miss_time = uint64(0); else car1.position = car1.seg_len(car1.segment); + car1.miss_time = uint64(0); end end end if car1.new_lap == true - disp('----------NEW LAP!----------') + disp('------------NEW LAP------------') if car1.lap == 0 % dont save time for first lap car1.segment = 1; |