Något bättre bana 1 typ

7 files changed, 29 insertions, 20 deletions

diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat
new file mode 100644
index 0000000..8167d4f
--- /dev/null
+++ b/Kod/bilbana/files/Bana.mat
diff --git a/Kod/bilbana/files/Bana1.mat b/Kod/bilbana/files/Bana1.mat
deleted file mode 100644
index e745c59..0000000
--- a/Kod/bilbana/files/Bana1.mat
+++ /dev/null
diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
deleted file mode 100644
index 56d1acb..0000000
--- a/Kod/bilbana/files/Bana2.mat
+++ /dev/null
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 9c4930c..1049910 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -5,7 +5,7 @@ if car.running == true
     %% BEFORE FIRST LAP
     if car.lap == 0
         t = toc(boot.time);
-        if t > 0.6
+        if t > 0.7
             car.constant = car.constant + 0.12;
             disp('###')
             disp(car.num)
@@ -15,7 +15,7 @@ if car.running == true
     end
     %% WHEN NEW LAP
     if car.new_lap == 1
-        car.constant = car.constant * 1.2;
+        car.constant = car.constant + 0.2;
         disp('###')
         disp(car.num)
         disp(car.constant)
@@ -23,7 +23,7 @@ if car.running == true
     %% First segment
     if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
         t = toc(boot.time);
-        if t > 0.8
+        if t > 1
             car.constant = car.constant + 0.04;
             disp('###')
             disp(car.num)
@@ -51,9 +51,9 @@ if car.running == true
         seg_time = car.seg_times(1, 3);
         laptime_forecast = seg_time / 0.102;
         forecast_ref_diff = laptime_forecast - car.ref_time;
-        forecast_ref_diff_rel = forecast_ref_diff / car.ref_time;
-        car.constant = car.constant + (forecast_ref_diff_rel * 0.15);
-        car.constant = car.constant * 1.05;  % kompensation för kall bana
+        forecast_ref_diff_rel = forecast_ref_diff / 20;%car.ref_time;
+        car.constant = car.constant + (forecast_ref_diff_rel * 0.5);
+        %car.constant = car.constant * 1.05;  % kompensation för kall bana
         boot.status = 0;
         disp('END OF BOOTSTRAP')
         disp(car.num)
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 7728c28..cb3e934 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -98,6 +98,7 @@ 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);
@@ -192,7 +193,7 @@ if car.running == true && car.automatic == false
     mult = 100;
     max = 55;
     div = 55;
-	set_car_speed(car.num, mult * ((max - get_manual_speed(car.num)) / div));
+	set_car_speed(car.num, mult * ((max - get_manual_speed(car.num)) / div))
 end
 
 %% EXECUTE
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m
index 5f89c57..e0dc45d 100644
--- a/Kod/bilbana/yc4/do_gov.m
+++ b/Kod/bilbana/yc4/do_gov.m
@@ -4,8 +4,23 @@ function [ car ] = do_gov( car )
 if car.new_lap
     % TODO calculate stuff
 elseif car.new_check_point && (car.segment == 5 || car.segment == 8)
-    status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
-    car.constant = car.constant + (status - 1) * 0.08;
-    car.governs(length(car.governs) + 1) = car.constant;
+    if true %car.lap == 1
+        status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
+        car.constant = car.constant + (status - 1) * 0.08;
+        car.governs(length(car.governs) + 1) = car.constant;
+    end
+    %{
+    if car.lap > 1 && (car.segment == 5 || car.segment == 8)
+        car.lap_now = toc(car.lap_tic);
+        norm_const = 1/(sum(car.percents(1:9)));
+        norm_list = car.percents * norm_const;
+        sum_percent = sum(norm_list(1:car.segment));
+        exp_time = car.ref_time * sum_percent;
+        
+        status = car.lap_now/exp_time;
+        car.constant = car.constant + (status - 1) * 0.08;
+        car.governs(length(car.governs) + 1) = car.constant;
+    end
+    %}
 end
 
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index f589c29..2f45089 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -37,8 +37,7 @@ display.shm_interp.data = [];
 display.last_send = tic;
 display.send_interval = 0.5;
 
-load('bilbana\files\Bana1.mat')
-load('bilbana\files\Bana2.mat')
+load('bilbana\files\Bana.mat')
 
 car1 = struct;
 car1.num = 1;
@@ -50,15 +49,13 @@ car1.segment = 1;
 car1.lap = 0;
 car1.lap_times = [];
 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.percents = [];  % TODO
+car1.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113];  % TODO
 car1.map = Bana1;
-car1.approximation = [];
+%car1.approximation = [];
 car1.miss_probability = 0.0;
-car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
 car1.constant = 0.1;
 car1.stop = false;
 car1.governs = [];
@@ -79,9 +76,6 @@ car2.seg_len = [2.53 0.52 1.87 2.70 1.40 1.70 4.03 3.08 2.19];
 car2.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113];
 car2.map = Bana2;
 car2.miss_probability = 0.05;
-car2.seg_constant_list = []; % TODO
-car2.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
-car2.seg_constant = 1;
 car2.constant = 0.1;
 car2.stop = false;
 car2.governs = [];
@@ -307,7 +301,6 @@ while 1
     end
 end
 
-
 %% END OF RACE
 disp(highToc);
 disp(car1);