Do stuff

3 files changed, 9 insertions, 9 deletions

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index a280a86..f205f02 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -62,9 +62,9 @@ if car.running == true
 	%% CALC POSITION
 	if car.lap > 1
 		% car.last_seg_times = car.seg_times(car.lap - 1, 1:9);
-		aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num), car.lap, car.seg_times, car.num);
+		aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car.lap, car.seg_times, car.num, car.seg_len);
 		car.position = get_position(aprox_v, car.position, t);
-		if detect_missed( car.position, car.segment, car.num)
+		if detect_missed( car.position, car.segment, car.num, car.pos_at)
 			disp('Miss?');
 
 			%disp(toc(car.miss_time));
@@ -96,7 +96,7 @@ if car.running == true
 			if car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
 				disp(car)
 				[new_position, seg_plus] = ...
-						choose_position(car.position, car.segment, car.num);
+						choose_position(car.position, car.segment, car.num, car.pos_at);
 				if seg_plus ~= 0 && car.segment == 2
 					disp('Hoppar �ver missad givare 1/2');
 				else
@@ -110,7 +110,7 @@ if car.running == true
                 end
 				%car.miss_time = uint64(0);
 			else
-				car.position = car.seg_len(car.segment);
+				car.position = car.pos_at(car.segment);
 				%car.miss_time = uint64(0);
 			end
 		end
@@ -156,7 +156,7 @@ end
 %% CALCULATE
 if car.running == true && car.automatic == true
 	car.v = get_new_v(car.position, car.map);
-    seg_constant = get_seg_constant(car.position, car.lap_constants, car.num);
+    seg_constant = get_seg_constant(car.position, car.lap_constants, car.num, car.pos_at);
 	car.u = get_new_u(car.v, seg_constant);
 end
 
diff --git a/Kod/bilbana/yc4/get_car_constant.m b/Kod/bilbana/yc4/get_car_constant.m
index 5513721..ae0bb0c 100644
--- a/Kod/bilbana/yc4/get_car_constant.m
+++ b/Kod/bilbana/yc4/get_car_constant.m
@@ -15,7 +15,7 @@ switch(in_pos)
     case 1
         car_constant = 0.95;
     case 2
-        car_constant = 0.8;
+        car_constant = 1.0;
 end
 end
 
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 2305d6e..686d22e 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -52,7 +52,7 @@ car1.seg_times = [];
 car1.seg_constant_list = []; % TODO
 car1.position = 0;
 car1.pos_at  = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57 19.60];
-car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99]
+car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99];
 car1.map = Bana1;
 car1.approximation = [];
 car1.miss_probability = 0.0;
@@ -69,8 +69,8 @@ car2.lap = 0;
 car2.lap_times = [];
 car2.seg_times = [];
 car2.position = 0;
-car2.pos_at  = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76 19.95];
-car2.seg_len = [2.53 0.53 1.87 2.68 1.24 1.81 4.03 3.09 2.19];
+car2.pos_at  = [0.0 2.53 3.05 4.92 7.62 9.02 10.72 14.68 17.76 19.95];
+car2.seg_len = [2.53 0.52 1.87 2.70 1.40 1.70 4.03 3.08 2.19];
 car2.map = Bana2;
 car2.miss_probability = 0.1;
 car2.seg_constant_list = []; % TODO