Nu funkar inget

2 files changed, 21 insertions, 22 deletions

diff --git a/Kod/bilbana/yc4/choose_position.m b/Kod/bilbana/yc4/choose_position.m
index 035d6e3..312990c 100644
--- a/Kod/bilbana/yc4/choose_position.m
+++ b/Kod/bilbana/yc4/choose_position.m
@@ -4,12 +4,11 @@ function [new_position, seg_plus] = choose_position(position,segment, track)
 %   givare missats. Sedan väljs position efter vilken givare det var som 
 %   passerades. seg_plus anger om och med hur mycket car.segment bör
 %   justeras för att kompensera efter missad givare.
-track_len = [19.60 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57;
+track_len = [0 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57;
              0 0 0 0 0 0 0 0 0];
 set_pos = [0 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57;
             0 0 0 0 0 0 0 0 0];
 pos_c = position;
-pos_i = track_len( track, segment);
 %% Vilken givare ligger närmast pos_c?
 near = [];
 for i = 1:length(track_len)
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index fca9819..33b6944 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -107,30 +107,30 @@ while 1
             car1.position = get_position(aprox_v, car1.position, t);
         end
         if car1.new_check_point == true
-            % beep;
-            if car1.lap ~= 0
-                car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
-            end
-            if car1.segment < 9
+            if car1.new_lap == false
+                if car1.lap ~= 0
+                    car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
+                end
                 car1.segment = car1.segment + 1;
-            end
-            car1.seg_tic = tic;
-            %approximation = car1.position; % Måste vara innan nästa rad
-            %car1.position = car1.seg_len(car1.segment);
-            % Jämför get_position med indata
-            %approximation = approximation - car1.position;
-            %car1.approximation(car1.lap, car1.segment) = approximation;
-            if car1.lap > 2 %Säkerhetsmarginal (Bör vara 1?)
-                disp(car1);
-                [car1.position, seg_plus] = ...
-                choose_position(car1.position,car1.segment, 1);
-                %car1.position = x(1);
-                car1.segment = car1.segment + seg_plus;
-            else
-                car1.position = car1.seg_len(car1.segment);
+                car1.seg_tic = tic;
+                %approximation = car1.position; % Måste vara innan nästa rad
+                %car1.position = car1.seg_len(car1.segment);
+                % Jämför get_position med indata
+                %approximation = approximation - car1.position;
+                %car1.approximation(car1.lap, car1.segment) = approximation;
+                if car1.lap > 2 %Säkerhetsmarginal (Bör vara 1?)
+                    disp(car1);
+                    [car1.position, seg_plus] = ...
+                    choose_position(car1.position,car1.segment, 1);
+                    %car1.position = x(1);
+                    car1.segment = car1.segment + seg_plus;
+                else
+                    car1.position = car1.seg_len(car1.segment);
+                end
             end
         end
         if car1.new_lap == true
+            disp('----------NEW LAP!----------')
             if car1.lap == 0
                 % dont save time for first lap
                 car1.segment = 1;