Merge remote-tracking branch 'origin/suppose-correct'

2 files changed, 5 insertions, 18 deletions

diff --git a/Kod/bilbana/yc4/choose_position.m b/Kod/bilbana/yc4/choose_position.m
index d6db2ca..cd18f85 100644
--- a/Kod/bilbana/yc4/choose_position.m
+++ b/Kod/bilbana/yc4/choose_position.m
@@ -6,8 +6,6 @@ function [new_position, seg_plus] = choose_position(position,segment, track)
 %   justeras för att kompensera efter missad givare.
 track_len = [0 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57;
              0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
-set_pos = [0 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57;
-           0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
 pos_c = position;
 %% Vilken givare ligger närmast pos_c?
 near = [];
@@ -23,19 +21,8 @@ for i = 1:length(track_len)
 end
 disp(near);
 %% Beräkning av passerad givare
-if near(1) == segment
-    new_position = set_pos( track, segment);
-    seg_plus = 0;
-    disp('In right segment');
-else
-    if near(2) < 0.7 % Behöver bli smartare. Typ jämföra andra normal miss med denna miss
-        seg_plus = max(0, near(1) - segment);
-        new_position = set_pos(track, segment + seg_plus);
-    else
-        new_position = set_pos(track, segment); % ineff borde kombineras
-        seg_plus = 0;
-        disp('In right segment ich');
-    end
-end
+seg_plus = max(0, near(1) - segment)
+new_position = track_len(track, segment + seg_plus);
 end
 
+
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 2bddf67..caac64d 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -96,10 +96,10 @@ if car.running == true
 			car.segment = car.segment + 1;
 			car.seg_tic = tic;
 			if car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
-				disp(car);
+				disp(car)
 				[new_position, seg_plus] = ...
 						choose_position(car.position, car.segment, car.num);
-				if seg_plus ~= 0 && car.segment == 1
+				if seg_plus ~= 0 && car.segment == 2
 					disp('Hoppar �ver missad givare 1/2');
 				else
 					car.position = new_position;