Inför bp5

5 files changed, 46 insertions, 54 deletions

diff --git a/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m b/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
index 9fd669b..ca5ec83 100644
--- a/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
+++ b/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
@@ -83,15 +83,15 @@ if ~(in_clipboard)
 	car1.avg = '--.-';
 	car1.dev = '-.--';
 	if length(car1_laptimes) > 5
-		car1.avg = num2str(mean(car1_laptimes(6, length(car1_laptimes))), 3);
-		car1.dev = num2str(std(car1_laptimes(6, length(car1_laptimes))), 2);
+		car1.avg = num2str(mean(car1_laptimes(6:length(car1_laptimes))), 3);
+		car1.dev = num2str(std(car1_laptimes(6:length(car1_laptimes))), 2);
 	end
 	car2 = struct;
 	car2.avg = '--.-';
 	car2.dev = '-.--';
 	if length(car2_laptimes) > 5
-		car2.avg = num2str(mean(car2_laptimes(6, length(car2_laptimes))), 3);
-		car2.dev = num2str(std(car2_laptimes(6, length(car2_laptimes))), 2);
+		car2.avg = num2str(mean(car2_laptimes(6:length(car2_laptimes))), 3);
+		car2.dev = num2str(std(car2_laptimes(6:length(car2_laptimes))), 2);
 	end
 
 	line = 12;
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index a9306ef..5b60eb8 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -7,27 +7,31 @@ if car.running == true
         t = toc(boot.time);
         if t > 0.7
             car.constant = car.constant + 0.12;
-            disp('###')
-            disp(car.num)
-            disp(car.constant)
+            % disp('###')
+            % disp(car.num)
+            % disp(car.constant)
             boot.time = tic;
         end
     end
     %% WHEN NEW LAP
     if car.new_lap == 1
         car.constant = car.constant + 0.2;
-        disp('###')
-        disp(car.num)
-        disp(car.constant)
+        % disp('###')
+        % disp(car.num)
+        % disp(car.constant)
     end
     %% First segments
     if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
         t = toc(boot.time);
         if t > 1.2
-            car.constant = car.constant + 0.04;
-            disp('###')
-            disp(car.num)
-            disp(car.constant)
+            if car.num == 1
+                car.constant = car.constant + 0.06;
+            else
+                car.constant = car.constant + 0.04;
+            end
+            % disp('###')
+            % disp(car.num)
+            % disp(car.constant)
             boot.time = tic;
         end
         
@@ -42,20 +46,19 @@ if car.running == true
  %            disp(car.constant)
  %            boot.time = tic;
  %        end
- %        
  %    end    
     
     %% END BOOTSTRAP
     if car.segment > 3
         car.governs(length(car.governs) + 1) = car.constant;
-        disp(car.constant);
-        status = car.forecasts_naive(car.lap, car.segment-1)/20;
+        % disp(car.constant);
+        status = car.forecasts_naive(car.lap, car.segment-1) / 15;
         car.constant = car.constant + (status - 1) * 0.08;
         
         boot.status = 0;
-        disp('END OF BOOTSTRAP')
-        disp(car.num)
-        disp(car.constant)
+        % disp('END OF BOOTSTRAP')
+        % disp(car.num)
+        % disp(car.constant)
         car.governs(length(car.governs) + 1) = car.constant;
     end
 end
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 0aed013..92e4f8d 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -58,9 +58,9 @@ if car.running == true
         if toc(car.seg_tic) > 9.0
 			set_car_speed(1, 0);
 			set_car_speed(2, 0);
-			%disp(strjoin({'Avåkning bil', num2str(car.num)}));
-			disp('J = Ja, N = Nej')
-			car.response = input('Vill du fortsätta? [N] ', 's');
+			disp(strjoin({'Avåkning bil', num2str(car.num)}));
+			disp('(J = Ja, N = Nej)');
+			car.response = input('Vill du fortsätta? [N] ', 's');
             if car.response == 'J'
 				car.seg_tic = tic;
 			else
@@ -76,11 +76,11 @@ if car.running == true
 		aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car);
 		car.position = get_position(aprox_v, car.position, t);
         if car.lap == 2 && car.segment < 4
-            disp('####')
-            disp(car.position)
+            % disp('####')
+            % disp(car.position)
         end
         if detect_missed( car.position, car.segment, car.num, car.pos_at)
-			disp('Miss?');
+			% disp('Miss?');
 
 			%disp(toc(car.miss_time));
 			%if car.miss_time == 0
@@ -115,9 +115,9 @@ if car.running == true
 			track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1);
 			car.forecasts(car.lap, car.segment) = lap_time_now + track_remaining/prev_seg_v;
 
-			car.forecasts_naive(car.lap, car.segment) = toc(car.seg_tic) / car.percents(car.segment)
+			car.forecasts_naive(car.lap, car.segment) = toc(car.seg_tic) / car.percents(car.segment);
 
-			car.segment = car.segment + 1;
+			car.segment = min(9, car.segment + 1);
 			car.seg_tic = tic;
 
 			if car.automatic && car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
@@ -127,7 +127,7 @@ if car.running == true
 					disp('Hoppar �ver missad givare 1/2');
 				else
 					car.position = new_position;
-					car.segment = car.segment + seg_plus;
+					car.segment = min(9, car.segment + seg_plus);
 				end
 				if seg_plus ~= 0 && car.segment ~= 2
 					car.seg_times(car.lap, car.segment - seg_plus - 1) = 0;
@@ -147,7 +147,7 @@ if car.running == true
 	if car.new_lap == true
 		disp('NEW LAP')
 		beep;
-		if car.lap == 0
+        if car.lap == 0
 			% dont save time for first lap
 			car.segment = 1;
 			car.lap = car.lap + 1;
@@ -191,14 +191,19 @@ end
 
 %% CONTROLLER
 if car.running == true && car.automatic == false
-    mult = 100;
-    max = 55;
-    div = 55;
-	set_car_speed(car.num, mult * ((max - get_manual_speed(car.num)) / div))
+    mult_ = 100;
+    max_ = 55;
+    div_ = 55;
+	set_car_speed(car.num, mult_ * ((max_ - get_manual_speed(car.num)) / div_))
 end
 
 %% EXECUTE
 if car.running == true && car.automatic == true
-	set_car_speed(car.num, car.u);
+	disp(strjoin({num2str(car.num), num2str(car.u), num2str(car.position)}))
+    if not(boot.status)
+        set_car_speed(car.num, max(car.u, 16));
+    else
+        set_car_speed(car.num, car.u);
+    end
 end
 end
diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m
index 2ed2a04..5b6808b 100644
--- a/Kod/bilbana/yc4/get_aprox_v.m
+++ b/Kod/bilbana/yc4/get_aprox_v.m
@@ -12,7 +12,7 @@ if cur_seg > 9
 end
 %% Kompensera för väldigt långsamt segment 1 första varvet
 if cur_seg == 1 && lap == 2
-    v = car.seg_len(1)/(1.5*car.seg_times(1,9))
+    v = car.seg_len(1)/(1.5*car.seg_times(1,9));
     return
 end
 %% Sätt v
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 18fa982..4ca058a 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -15,7 +15,7 @@ start_race(2)
 
 %% INIT
 global log_debug;
-log_debug = true;
+log_debug = false;
 global log_verbose;
 log_verbose = false;
 % INIT DISPLAY
@@ -55,7 +55,7 @@ car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99];
 car1.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113];  % TODO
 car1.map = Bana1;
 %car1.approximation = [];
-car1.miss_probability = 0.0;
+car1.miss_probability = 0.05;
 car1.constant = 0.1;
 car1.stop = false;
 car1.governs = [];
@@ -124,64 +124,48 @@ done = false;
 while 1
 	pause(0.1);
 	if toc(display.last_check) > 0.4
-		verbose('DISPLAY', 'toc > 0.4');
 		display.last_check = tic;
 
 		% read internal mem from last send
 		[display.out, display.shm] = matlabclient(2);
 		[display.shm_interp.ack, display.shm_interp.start_code, display.shm_interp.data] = get_response(display.shm);
 
-		verbose('DISPLAY', 'Requesting internal mem for next cycle...');
 		% request internal mem
 		matlabclient(1, hex2dec(['12'; '01'; '53'; '66']));
 
 		if isempty(display.shm_interp.data)
-			verbose('DISPLAY', 'No response');
 			continue
 		end
-		debug('DISPLAY', ['Reading ', num2str(length(display.shm_interp.data)), ' package(-s)']);
 
 		update_ref_time = false;
 		for i = 1:length(display.shm_interp.data)
 			data = display.shm_interp.data(i);
 			if data.data == 32
-				debug('DISPLAY', ...
-					'Start-button pressed, exiting when no more packages');
 				done = true;
 			elseif data.data == 11
-				debug('DISPLAY', 'Enabling car 1');
 				car1.running = true;
 			elseif data.data == 12
-				debug('DISPLAY', 'Disabling car 1');
 				car1.running = false;
 			elseif data.data == 13
-				debug('DISPLAY', 'Enabling car 1 manual');
 				car1.automatic = false;
 			elseif data.data == 14
-				debug('DISPLAY', 'Disabling car 1');
 				car1.automatic = true;
 			elseif data.data == 21
-				debug('DISPLAY', 'Enabling car 2');
 				car2.running = true;
 			elseif data.data == 22
-				debug('DISPLAY', 'Disabling car 2');
 				car2.running = false;
 			elseif data.data == 23
-				debug('DISPLAY', 'Enabling car 2 manual');
 				car2.automatic = false;
 			elseif data.data == 24
-				debug('DISPLAY', 'Disabling car 2 manual');
 				car2.automatic = true;
 			elseif data.data == 41
 				% ignore
 			elseif data.data == 42
-				debug('DISPLAY', ['Decreasing ref_time to ', num2str(ref_time)]);
 				ref_time = max(ref_time - 0.5, 12.0);
 				update_ref_time = true;
 			elseif data.data == 43
 				% ignore
 			elseif data.data == 44
-				debug('DISPLAY', ['Increasing ref_time to ', num2str(ref_time)]);
 				ref_time = min(ref_time + 0.5, 15.0);
 				update_ref_time = true;
 			end