Bootstrap funkar för 4 bilar (blå 17, vit 82, bussen, grå 67)

3 files changed, 19 insertions, 5 deletions

diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index ffa7878..31f4db0 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -5,11 +5,25 @@ if car.running == true
     %% BEFORE FIRST LAP
     if car.lap == 0
         t = toc(boot.time);
-        if t > 1
+        if t > 0.6
             car.constant = car.constant + 0.05;
             disp(car.constant)
             boot.time = tic;
         end
     end
+    %% First segment
+    if car.lap == 1 && car.segment == 1
+        t = toc(boot.time);
+        if t > 3
+            car.constant = car.constant + 0.05;
+            disp(car.constant)
+            boot.time = tic;
+        end
+    end
+    %% END BOOTSTRAP
+    if car.segment > 2
+        boot.status = 0;
+        disp('END OF BOOTSTRAP')
+    end
 end
 end
\ No newline at end of file
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 46d1a9d..7b7ebfd 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -1,4 +1,4 @@
-function [car, stop, display_data] = do_car(car, t, display_data)
+function [car, stop, display_data] = do_car(car, t, display_data, boot)
 %DO_CAR Ger nya värden till struct car, avgör om koden ska stoppas samt hämtar displaydata.
 %{
 Input/Output:
@@ -44,7 +44,7 @@ end
 %% READ INPUT FROM TRACK
 if car.running == true
 	if car.lap ~= 0
-		if toc(car.seg_tic) > 9.0
+		if toc(car.seg_tic) > 9.0 && not(boot.status)
 			set_car_speed(1, 0);
 			set_car_speed(2, 0);
 			%disp(strjoin({'Avåkning bil', num2str(car.num)}));
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 6794831..b7221e3 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -150,8 +150,8 @@ while 1
 	drawnow
     
     %% CORE OF LOOP
-    [car1, car1.stop, display.data] = do_car(car1, t, display.data);
-    [car2, car2.stop, display.data] = do_car(car2, t, display.data);
+    [car1, car1.stop, display.data] = do_car(car1, t, display.data, boot1);
+    [car2, car2.stop, display.data] = do_car(car2, t, display.data, boot2);
     %% BOOTSTRAP
     if boot1.status
         [car1, boot1] = do_boot(car1, boot1);