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| author | Albin <albwa833@student.liu.se> | 2019-11-28 22:09:26 +0100 |
|---|---|---|
| committer | Albin <albwa833@student.liu.se> | 2019-11-29 11:39:25 +0100 |
| commit | 4f43e4de06f97e9f2169301d57a52bae6c7b215f (patch) | |
| tree | 8f46ca61cb095bcd7576662a1ecaf94c0b17c5f8 /Kod/bilbana | |
| parent | 42b5099a927ef4963197072b6c1d292aa5c5dcb6 (diff) | |
| download | tfyy51-4f43e4de06f97e9f2169301d57a52bae6c7b215f.tar.gz | |
Något mindre dålig körning för silver 67
Diffstat (limited to 'Kod/bilbana')
| -rw-r--r-- | Kod/bilbana/files/Bana.mat | bin | 1186 -> 1186 bytes | |||
| -rw-r--r-- | Kod/bilbana/yc4/do_car.m | 14 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/get_aprox_v.m | 2 |
3 files changed, 9 insertions, 7 deletions
diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat Binary files differindex 722afd9..ddb74f2 100644 --- a/Kod/bilbana/files/Bana.mat +++ b/Kod/bilbana/files/Bana.mat diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index e627a93..0aed013 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -75,6 +75,10 @@ if car.running == true % 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.pos_at), car); car.position = get_position(aprox_v, car.position, t); + if car.lap == 2 && car.segment < 4 + disp('####') + disp(car.position) + end if detect_missed( car.position, car.segment, car.num, car.pos_at) disp('Miss?'); @@ -98,7 +102,6 @@ if car.running == true %% CHECK POINT if car.new_check_point == true - disp(car) if car.new_lap == false % choose_position krachar vid nytt varv (seg 10) if car.lap ~= 0 car.seg_times(car.lap, car.segment) = toc(car.seg_tic); @@ -118,7 +121,6 @@ if car.running == true car.seg_tic = tic; if car.automatic && car.lap > 2 % S�kerhetsmarginal (B�r vara 1?) - disp(car) [new_position, seg_plus] = ... choose_position(car.position, car.segment, car.num, car.pos_at); if seg_plus ~= 0 && car.segment == 2 @@ -137,14 +139,13 @@ if car.running == true car.position = car.pos_at(car.segment); %car.miss_time = uint64(0); end - end + end + disp(car) end %% NEW LAP if car.new_lap == true disp('NEW LAP') - - car.lap_constants = gov_set(car.constant); beep; if car.lap == 0 % dont save time for first lap @@ -177,7 +178,8 @@ if car.running == true car.segment = 1; car.lap = car.lap + 1; - end + end + disp(car) end end diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m index f2a4a65..2ed2a04 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)/(0.78*car.seg_times(1,9)) + v = car.seg_len(1)/(1.5*car.seg_times(1,9)) return end %% Sätt v |