diff options
| author | alex <aletu130@student.liu.se> | 2019-11-05 17:42:20 +0100 |
|---|---|---|
| committer | alex <aletu130@student.liu.se> | 2019-11-05 17:42:20 +0100 |
| commit | c242c4482aa66d6a002579f5184d6cbb9a4e4835 (patch) | |
| tree | af2bc1a936ecde4254fe416cefe7d87bdf4c1d21 /Kod/bilbana/yc4/main.m | |
| parent | 2a9260509b73bba56171d9478142c79ef5b91cec (diff) | |
| download | tfyy51-c242c4482aa66d6a002579f5184d6cbb9a4e4835.tar.gz | |
Master buggfixad
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 18 |
1 files changed, 7 insertions, 11 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 5c089c9..793aefb 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -46,7 +46,6 @@ car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; %} highToc = 0; -delta_t = 0; %% ASK ACTIVE CARS disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej'); @@ -101,12 +100,10 @@ while 1 if car1.running == true %% CALC POSITION (CAR 1) - if car1.lap ~= 0 - if car1.lap > 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, delta_t) - end + if car1.lap > 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); end if car1.new_check_point == true % beep; @@ -188,7 +185,7 @@ while 1 %} %% CALCULATE (CAR 1) - if car1.running == true && car1.automatic == true + if car1.running == true && car1.automatic == true car1.car_constant = get_car_constant(1); car1.v = get_new_v(car1.position, Bana1); car1.track_u_constant = get_track_u_constant(); @@ -249,8 +246,7 @@ while 1 break; end end - - + send_data_to_display(); end @@ -267,7 +263,7 @@ matlabclient(3); %% DISPLAY GRAPHS if car1.running == true - graphs(car1.lap_times, 14.25, car1.seg_times, 1); + graphs(car1.lap_times, 13.00, car1.seg_times, 1); end %{ |