Fusk-merge branch 'get_position'

2 files changed, 19 insertions, 10 deletions

diff --git a/Kod/bilbana/yc4/get_position.m b/Kod/bilbana/yc4/get_position.m
index 9f70347..72fa866 100644
--- a/Kod/bilbana/yc4/get_position.m
+++ b/Kod/bilbana/yc4/get_position.m
@@ -1,6 +1,13 @@
-function [ output_args ] = get_position( v_prev_cycle, prev_p, delta_t )
-%UNTITLED Summary of this function goes here
-%   Detailed explanation goes here
-    
+function [ position ] = get_position( aprox_v, prev_p, delta_t)
+%GET_POSITION: Uppskattar position utifrån förra positionen och hastigheten
+%{   
+Använder s = v*t för att beräkna skillnaden i strecka sedan förra cykeln.
+v är just nu medelhastigheten för nuvarande segment förra cykeln.
+dt är just nu samma tic toc som checkar att cykeln inte var mer än 0.1 s.
+%}
+v = aprox_v;
+dt = delta_t;
+dp = v*dt;
+position = prev_p + dp;
 end
 
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 85f7be3..f8522a2 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -18,7 +18,7 @@ initialize_counters(2)
 
 config_IOs
 
-load('X:\Git\yc4_2019\Kod\bilbana\files\Bana1.mat')
+load('bilbana\files\Bana1.mat')
 
 start_race(1)
 % start_race(2)
@@ -91,19 +91,21 @@ while 1
     if car1.running == true
 		[car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
     end
-	if car2.running == true
-		% [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
+	%{
+    if car2.running == true
+		[car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
 	end
+    %}
     
     %% CHECK LAP AND CHECKPOINT (CAR 1)
-	if car1.running == true
+    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);
+                car1.position = get_position(aprox_v, car1.position, delta_t)
             end
         end
         if car1.new_check_point == true
@@ -260,7 +262,7 @@ matlabclient(3);
 %% DISPLAY GRAPHS
 
 if car1.running == true
-	graphs(car1.lap_times, 13, car1.seg_times, 1);
+	graphs(car1.lap_times, 14.25, car1.seg_times, 1);
 end
 
 %{