get_new_v fungerar för båda bilarna nu

3 files changed, 17 insertions, 16 deletions

diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m
index 41a3c9e..e402af6 100644
--- a/Kod/bilbana/yc4/get_aprox_v.m
+++ b/Kod/bilbana/yc4/get_aprox_v.m
@@ -1,4 +1,4 @@
-function [v] = get_aprox_v(cur_seg,last_seg_times)
+function [v] = get_aprox_v(cur_seg,last_seg_times, track)
 %GET_APROX_V Tillfällig? Behövs för att testa get_position. Ger
 %medelhastigheten för nuvarande segment på förra varvet.
 %{
@@ -6,16 +6,15 @@ cur_seg: Nuvarande segment
 last_seg_times: 1x9 vektor med förra varvets segmenttider
 %}
 seg_len1 = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99];
-% seg_len2 = [2.53 0.53 1.87 2.68 1.24 1.81 4.03 3.09 2.19];
+seg_len2 = [2.53 0.53 1.87 2.68 1.24 1.81 4.03 3.09 2.19];
 
-%v = last_seg_times(cur_seg)/seg_len(cur_seg);
-v = seg_len1(cur_seg)/last_seg_times(cur_seg);
+%v = seg_len1(cur_seg)/last_seg_times(cur_seg);
 
-% switch(track)
-%     case 1
-%         v = seg_len1(cur_seg)/last_seg_times(cur_seg);
-%     case 2
-%         v = seg_len2(cur_seg)/last_seg_times(cur_seg);
-% end
+switch(track)
+    case 1
+        v = seg_len1(cur_seg)/last_seg_times(cur_seg);
+    case 2
+        v = seg_len2(cur_seg)/last_seg_times(cur_seg);
+end
 end
 
diff --git a/Kod/bilbana/yc4/get_new_v.m b/Kod/bilbana/yc4/get_new_v.m
index 8c7d736..e722326 100644
--- a/Kod/bilbana/yc4/get_new_v.m
+++ b/Kod/bilbana/yc4/get_new_v.m
@@ -13,8 +13,9 @@ for i = 1:length(list)
     if list(i,1) > position
         new_v = list((i-1),4);
         break
-    end    
-    elseif i == 80
+    elseif i == length(list)
         new_v = list(80,4);
-end       
+        break
+    end  
 end
+      
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 01691ae..b3c2b56 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -16,13 +16,14 @@ hf=figure('position',[0 0 eps eps],'menubar','none');
 initialize_counters(1)
 initialize_counters(2)
 
+
 config_IOs
 
 load('bilbana\files\Bana1.mat')
 load('bilbana\files\Bana2.mat')
 
 start_race(1)
-% start_race(2)
+start_race(2)
 
 car1 = struct;
 car1.running = false;
@@ -104,7 +105,7 @@ while 1
         %% CALC POSITION (CAR 1)
         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);
+            aprox_v = get_aprox_v(car1.segment, last_seg_times1, 1);
             car1.position = get_position(aprox_v, car1.position, t);
         end
         if car1.new_check_point == true
@@ -147,7 +148,7 @@ while 1
         %% CALC POSITION (CAR 2
        if car2.lap > 1
            last_seg_times2 = car2.seg_times(car2.lap - 1, 1:9);
-           aprox_v = get_aprox_v(car2.segment, last_seg_times2);
+           aprox_v = get_aprox_v(car2.segment, last_seg_times2, 2);
            car2.position = get_position(aprox_v, car2.position, t);
        end
         if car2.new_check_point == true