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| author | Gustav Sörnäs <gusso230@student.liu.se> | 2019-11-15 10:42:42 +0100 |
|---|---|---|
| committer | Gustav Sörnäs <gusso230@student.liu.se> | 2019-11-15 10:42:42 +0100 |
| commit | 26277010960a2cb6aa11fb124c7502d6500dffc4 (patch) | |
| tree | 0f71fcf7ebee91e34659416e2b91ebb88424ee4c /Kod/bilbana/yc4 | |
| parent | 6f5da496ef46c8bd04db31c14923aaf1c53399b8 (diff) | |
| download | tfyy51-26277010960a2cb6aa11fb124c7502d6500dffc4.tar.gz | |
add safety margins
Diffstat (limited to 'Kod/bilbana/yc4')
| -rw-r--r-- | Kod/bilbana/yc4/do_car.m | 4 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 8 |
2 files changed, 7 insertions, 5 deletions
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index 5063e1d..ed8de89 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -72,7 +72,9 @@ if car.running == true if car.stopping == true % CHECK IF CAR IS AT THE END OF TRACK - if car.position > 19 % TODO idk + if car.position > (car.map(80, 1) / 100) - 0.8 % 80cm + disp(car.position) + disp((car.map(80, 1) / 100) - 300) set_car_speed(car.num, 0); car.stopped = true; return diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 6bd889c..fcff963 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -121,13 +121,13 @@ while 1 if car1.stop == true disp('stopped by car 1'); break; - end - if car2.stop == true + end + if car2.stop == true disp('stopped by car 2'); break; - end + end - if car1.stopped == true && car2.stopped == true + if (~car2.running && car1.stopped) || (~car1.running && car2.stopped) || (car1.stopped && car2.stopped) break; end |