fix

5 files changed, 46 insertions, 2 deletions

diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
index f9369e4..743de15 100644
--- a/Kod/bilbana/files/Bana2.mat
+++ b/Kod/bilbana/files/Bana2.mat
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index a6240ec..cf534fa 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -92,8 +92,15 @@ if car.running == true
 				car.seg_times(car.lap, car.segment) = toc(car.seg_tic);
             end
             
-            seg_time = car.seg_times(car.lap, car.segment);
-            car.forecasts(car.lap, car.segment) = seg_time / car.percents(car.segment);
+            seg_time = car.seg_times(car.lap, car.segment)
+            lap_time_now = toc(car.lap_tic)
+            % s = vt
+            % v = s/t
+            % t = s/v
+            prev_seg_v = car.seg_len(car.segment) / toc(car.seg_tic)
+            track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1)
+            
+            car.forecasts(car.lap, car.segment) = lap_time_now + track_remaining/prev_seg_v
             
 			car.segment = car.segment + 1;
 			car.seg_tic = tic;
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m
new file mode 100644
index 0000000..d38336a
--- /dev/null
+++ b/Kod/bilbana/yc4/do_gov.m
@@ -0,0 +1,9 @@
+function [ car ] = do_gov( car )
+%UNTITLED Summary of this function goes here
+%   Detailed explanation goes here
+if car.new_check_point
+    status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
+    car.constant = car.constant + (status - 1) * 0.01;
+    disp(car.constant);
+end
+
diff --git a/Kod/bilbana/yc4/fit_percents.m b/Kod/bilbana/yc4/fit_percents.m
new file mode 100644
index 0000000..ffdb9fc
--- /dev/null
+++ b/Kod/bilbana/yc4/fit_percents.m
@@ -0,0 +1,11 @@
+function [ new_percents ] = fit_percents( percents, lap_time, seg_times )
+%FIT_PERCENTS Summary of this function goes here
+%   Detailed explanation goes here
+new_percents = [];
+for i = 1:length(percents)
+    old_p = percents(i);
+    cur_p = seg_times(i) / lap_time;
+    new_p = old_p - (old_p + cur_p) / 2;
+    new_percents(i) = new_p;
+end
+
diff --git a/Kod/bilbana/yc4/setup_car.m b/Kod/bilbana/yc4/setup_car.m
new file mode 100644
index 0000000..1ab75e0
--- /dev/null
+++ b/Kod/bilbana/yc4/setup_car.m
@@ -0,0 +1,17 @@
+function [] = setup_car(car, track)
+%UNTITLED2 Summary of this function goes here
+%   Detailed explanation goes here
+disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej');
+
+car.response = input('Vill du köra bil 1? [N] ', 's');
+if car.response == 'J'
+	car.running = true;
+	car.automatic = true;
+elseif car.response == 'M'
+	car.running = true;
+	car.automatic = false;
+else
+	car.running = false;
+end
+end
+