Funkar nästan

2 files changed, 27 insertions, 100 deletions

diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 645e100..ffa7878 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -1,88 +1,14 @@
-function [car] = do_boot(car, boot_time)
+function [car, boot] = do_boot(car, boot)
 %BOOT Summary of this function goes here
 %   Detailed explanation goes here
 if car.running == true
-    [car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
-    %% CHECK POINT
-    if car.new_check_point == true
-        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);
-                car.seg_constant_list(car.lap, car.segment) = car.seg_constant;
-            end
-            car.segment = car.segment + 1;
-            car.seg_tic = tic;
-            if 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
-                    disp('Hoppar �ver missad givare 1/2');
-                else
-                    car.position = new_position;
-                    car.segment = car.segment + seg_plus;
-                end
-                if seg_plus ~= 0
-                    car.seg_times(car.lap, car.segment - seg_plus - 1) = 0;
-                    car.seg_constant_list(car.lap, car.segment - seg_plus - 1) = 0;
-                    disp(car.seg_times(car.lap, :))
-                    disp(seg_plus)
-                end
-                %car.miss_time = uint64(0);
-            else
-                car.position = car.pos_at(car.segment);
-                %car.miss_time = uint64(0);
-            end
-        end
-    end
-    %% NEW LAP
-    if car.new_lap == true
-        car.lap_constants = gov_set(car.constant);
-        car.new_lap = false; %TODO remove
-        beep;
-        if car.lap == 0
-            % dont save time for first lap
-            car.segment = 1;
-            car.lap = car.lap + 1;
-            car.seg_tic = tic;
-            car.lap_tic = tic;
-        else
-            % beep;
-            % Spara inte seg_time om missad givare
-            if car.segment == 9
-                car.seg_times(car.lap, car.segment) = toc(car.seg_tic);
-                car.seg_constant_list(car.lap, car.segment) = car.seg_constant;
-            end
-            car.seg_tic = tic;
-            car.lap_times(car.lap) = toc(car.lap_tic);
-            car.lap_tic = tic;
-            car.position = 0;
-
-            if car.lap == 1 && size(car.seg_times, 2) < 9
-                disp('FEL: För få segment!!')
-                car.stopped = true;
-                other_car.stopped = true;
-                return
-            end
-
-            display_data = [display_data, put_text(100, 16 + (16 * car.num), 'L', strjoin({num2str(car.lap), get_time_as_string(round(car.lap_times(car.lap) * 1000))}, ' '))];
-
-            car.segment = 1;
-            car.lap = car.lap + 1;
-        end
-    end
-    %% CALCULATE
-    if car.running == true && car.automatic == true
-        car.v = get_new_v(car.position, car.map);
-        car.seg_constant = get_seg_constant(car.position, car.lap_constants, car.num, car.pos_at);
-        car.u = get_new_u(car.v, car.seg_constant);
-    end
     %% BEFORE FIRST LAP
     if car.lap == 0
-        t = toc(boot_time);
+        t = toc(boot.time);
         if t > 1
             car.constant = car.constant + 0.05;
-            boot_time = tic;
+            disp(car.constant)
+            boot.time = tic;
         end
     end
 end
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 7b9a2b1..5481aa0 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -60,8 +60,8 @@ car1.map = Bana1;
 car1.approximation = [];
 car1.miss_probability = 0.0;
 car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
-car1.constant = 0.5;
-car1.boot = false;
+car1.constant = 0.1;
+car1.stop = false;
 
 car2 = struct;
 car2.num = 2;
@@ -81,14 +81,16 @@ car2.miss_probability = 0.1;
 car2.seg_constant_list = []; % TODO
 car2.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
 car2.seg_constant = 1;
-car2.constant = 0.5;
-car2.boot = false;
+car2.constant = 0.1;
+car2.stop = false;
 
-boot = struct;
-boot.car1 = false;
-boot.car2 = false;
-boot.car1_time = 0;
-boot.car2_time = 0;
+boot1 = struct;
+boot1.status = false;
+boot1.time = 0;
+
+boot2 = struct;
+boot2.status = false;
+boot2.time = 0;
 
 t = 0;
 highToc = 0;
@@ -100,8 +102,8 @@ car1.response = input('Vill du köra bil 1? [N] ', 's');
 if car1.response == 'J'
 	car1.running = true;
 	car1.automatic = true;
-    boot.car1 = true;
-    boot.car1_time = tic;
+    boot1.status = true;
+    boot1.time = tic;
 elseif car1.response == 'M'
 	car1.running = true;
 	car1.automatic = false;
@@ -114,8 +116,8 @@ car2.response = input('Vill du köra bil 2? [N] ', 's');
 if car2.response == 'J'
 	car2.running = true;
 	car2.automatic = true;
-    boot.car2 = true;
-    boot.car2_time = tic;
+    boot2.status = true;
+    boot2.time = tic;
 elseif car2.response == 'M'
 	car2.running = true;
 	car2.automatic = false;
@@ -148,15 +150,14 @@ while 1
 	drawnow
     
     %% CORE OF LOOP
-    if car1.boot
-        car1 = boot(car1, boot);
-    else
-        [car1, car1.stop, display.data] = do_car(car1, t, display.data);
+    [car1, car1.stop, display.data] = do_car(car1, t, display.data);
+    [car2, car2.stop, display.data] = do_car(car2, t, display.data);
+    %% BOOTSTRAP
+    if boot1.status
+        [car1, boot1] = do_boot(car1, boot1);
     end
-    if car2.boot
-        car2 = boot(car2, boot);
-    else
-        [car2, car2.stop, display.data] = do_car(car2, t, display.data);
+    if boot2.status
+        [car2, boot2] = do_boot(car2, boot2);
     end
 
 	if car1.stop == true
@@ -222,7 +223,7 @@ disp(car1);
 disp(car2);
 
 terminate(1);
-terminate(2);
+terminate(2)
 
 matlabclient(3);