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-rw-r--r--Kod/bilbana/files/Bana1.matbin621 -> 1216 bytes
-rw-r--r--Kod/bilbana/files/Bana2.matbin623 -> 1207 bytes
-rw-r--r--Kod/bilbana/yc4/do_boot.m62
-rw-r--r--Kod/bilbana/yc4/do_car.m31
-rw-r--r--Kod/bilbana/yc4/do_gov.m9
-rw-r--r--Kod/bilbana/yc4/fit_percents.m11
-rw-r--r--Kod/bilbana/yc4/main.m71
-rw-r--r--Kod/bilbana/yc4/setup_car.m17
-rw-r--r--Kod/scripts/test_givare.m3
-rw-r--r--Kod/scripts/test_givare_kompenserad.m79
10 files changed, 256 insertions, 27 deletions
diff --git a/Kod/bilbana/files/Bana1.mat b/Kod/bilbana/files/Bana1.mat
index d83861f..e745c59 100644
--- a/Kod/bilbana/files/Bana1.mat
+++ b/Kod/bilbana/files/Bana1.mat
Binary files differ
diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
index 622fc18..743de15 100644
--- a/Kod/bilbana/files/Bana2.mat
+++ b/Kod/bilbana/files/Bana2.mat
Binary files differ
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
new file mode 100644
index 0000000..5019319
--- /dev/null
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -0,0 +1,62 @@
+function [car, boot] = do_boot(car, boot)
+%BOOT Summary of this function goes here
+% Detailed explanation goes here
+if car.running == true
+ %% BEFORE FIRST LAP
+ if car.lap == 0
+ t = toc(boot.time);
+ if t > 0.6
+ car.constant = car.constant + 0.12;
+ disp('###')
+ disp(car.num)
+ disp(car.constant)
+ boot.time = tic;
+ end
+ end
+ %% WHEN NEW LAP
+ if car.new_lap == 1
+ car.constant = car.constant + 0.4;
+ disp('###')
+ disp(car.num)
+ disp(car.constant)
+ end
+ %% First segment
+ if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
+ t = toc(boot.time);
+ if t > 0.8
+ car.constant = car.constant + 0.06;
+ disp('###')
+ disp(car.num)
+ disp(car.constant)
+ boot.time = tic;
+ end
+
+ end
+ %% ide höj carconstant så att den blir mer aggresivare ju längre tid som det går t.ex efter 3.5 s
+ %% if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
+ %% t = toc(boot.time);
+ %% if t > 1.0
+ %% car.constant = car.constant + 0.5;
+ %% disp('###')
+ %% disp(car.num)
+ %% disp(car.constant)
+ %% boot.time = tic;
+ %% end
+ %%
+ %% end
+
+ %% END BOOTSTRAP
+ if car.segment > 3
+ disp(car.constant);
+ 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)
+ boot.status = 0;
+ disp('END OF BOOTSTRAP')
+ disp(car.num)
+ disp(car.constant)
+ 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 f205f02..cf534fa 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)}));
@@ -90,20 +90,31 @@ if car.running == 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);
- end
+ end
+
+ 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;
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
+ 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
+ if seg_plus ~= 0 && car.segment ~= 2
car.seg_times(car.lap, car.segment - seg_plus - 1) = 0;
disp(car.seg_times(car.lap, :))
disp(seg_plus)
@@ -118,7 +129,9 @@ if car.running == true
%% NEW LAP
if car.new_lap == true
- car.lap_constants = gov_set(get_car_constant(car.num));
+ disp('NEW LAP')
+
+ car.lap_constants = gov_set(car.constant);
car.new_lap = false; %TODO remove
beep;
if car.lap == 0
@@ -138,6 +151,9 @@ if car.running == true
car.lap_tic = tic;
car.position = 0;
+ % save segment percentage from last lap
+ car.percents = fit_percents(car.percents, car.lap_times(car.lap), car.seg_times(car.lap,:))
+
if car.lap == 1 && size(car.seg_times, 2) < 9
disp('FEL: För få segment!!')
car.stopped = true;
@@ -156,8 +172,7 @@ end
%% CALCULATE
if car.running == true && car.automatic == true
car.v = get_new_v(car.position, car.map);
- seg_constant = get_seg_constant(car.position, car.lap_constants, car.num, car.pos_at);
- car.u = get_new_u(car.v, seg_constant);
+ car.u = get_new_u(car.v, car.constant);
end
%% CONTROLLER
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/main.m b/Kod/bilbana/yc4/main.m
index 9b31618..7f5264b 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -1,4 +1,5 @@
clear all;
+display_active = false;
%% INIT TRACK
disp('Startar bilbanan. Avsluta med q.')
@@ -17,12 +18,13 @@ global log_debug;
log_debug = true;
global log_verbose;
log_verbose = false;
-
% INIT DISPLAY
-addpath display/ClientServerApp/Release
-cd display/ClientServerApp/Release
-!startServer
-cd ../../..
+if display_active
+ addpath display/ClientServerApp/Release
+ cd display/ClientServerApp/Release
+ !startServer
+ cd ../../..
+end
display = struct;
display.data = [clear_display()];
@@ -53,10 +55,13 @@ 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.map = Bana1;
car1.approximation = [];
car1.miss_probability = 0.0;
car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
+car1.constant = 0.1;
+car1.stop = false;
car2 = struct;
car2.num = 2;
@@ -71,10 +76,23 @@ car2.seg_times = [];
car2.position = 0;
car2.pos_at = [0.0 2.53 3.05 4.92 7.62 9.02 10.72 14.68 17.76 19.95];
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 = 0.1;
car2.seg_constant_list = []; % TODO
car2.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
+car2.seg_constant = 1;
+car2.constant = 0.1;
+car2.stop = false;
+
+boot1 = struct;
+boot1.status = false;
+boot1.time = 0;
+
+boot2 = struct;
+boot2.status = false;
+boot2.time = 0;
t = 0;
highToc = 0;
@@ -86,6 +104,8 @@ car1.response = input('Vill du köra bil 1? [N] ', 's');
if car1.response == 'J'
car1.running = true;
car1.automatic = true;
+ boot1.status = true;
+ boot1.time = tic;
elseif car1.response == 'M'
car1.running = true;
car1.automatic = false;
@@ -98,6 +118,8 @@ car2.response = input('Vill du köra bil 2? [N] ', 's');
if car2.response == 'J'
car2.running = true;
car2.automatic = true;
+ boot2.status = true;
+ boot2.time = tic;
elseif car2.response == 'M'
car2.running = true;
car2.automatic = false;
@@ -113,8 +135,8 @@ elseif not(isreal(ref_time))
ref_time = 13;
end
%}
-ref_time = 13;
-
+car1.ref_time = 15;
+car2.ref_time = 15;
%% MAIN LOOP
while 1
readTime = tic;
@@ -129,10 +151,25 @@ while 1
figure(hf)
drawnow
-
- [car1, car1.stop, display.data] = do_car(car1, t, display.data);
- [car2, car2.stop, display.data] = do_car(car2, t, display.data);
-
+
+ %% CORE OF LOOP
+ [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);
+ end
+ if boot2.status
+ [car2, boot2] = do_boot(car2, boot2);
+ end
+ %% GOVERNOR
+ if not(boot1.status) && car1.lap ~= 0
+ car1 = do_gov(car1);
+ end
+ if not(boot2.status) && car2.lap ~= 0
+ car2 = do_gov(car2);
+ end
+ %%
if car1.stop == true
disp('stopped by car 1');
break;
@@ -150,7 +187,7 @@ while 1
while 1 %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder
% DISPLAY
display.send_delay = tic;
- if toc(display.last_send) > display.send_interval
+ if toc(display.last_send) > display.send_interval && display_active
% queue control signal
if car1.running && car1.automatic
% display.data = [display.data, put_text(20, 16 + (16 * 1), 'L', num2str(car1.u))];
@@ -197,18 +234,18 @@ disp(car2);
terminate(1);
terminate(2);
-
-matlabclient(3);
-
+if display_active
+ matlabclient(3);
+end
%% DISPLAY GRAPHS
if car1.running == true
- graphs(car1.lap_times, ref_time, car1.seg_times, 1);
+ graphs(car1.lap_times, car1.ref_time, car1.seg_times, 1);
end
if car2.running == true
- graphs(car2.lap_times, ref_time, car2.seg_times, 2);
+ graphs(car2.lap_times, car2.ref_time, car2.seg_times, 2);
end
%% SAVE VARIABLES FROM CAR STRUCT
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
+
diff --git a/Kod/scripts/test_givare.m b/Kod/scripts/test_givare.m
index 93ff860..726fe82 100644
--- a/Kod/scripts/test_givare.m
+++ b/Kod/scripts/test_givare.m
@@ -48,7 +48,6 @@ while 1
end
pause(0.1)
end
-
%%
terminate(1)
-terminate(2) \ No newline at end of file
+terminate(2)
diff --git a/Kod/scripts/test_givare_kompenserad.m b/Kod/scripts/test_givare_kompenserad.m
new file mode 100644
index 0000000..2ac0841
--- /dev/null
+++ b/Kod/scripts/test_givare_kompenserad.m
@@ -0,0 +1,79 @@
+disp('Startar bilbanan. Avsluta med q.')
+hf=figure('position',[0 0 eps eps],'menubar','none');
+
+initialize_counters(1)
+initialize_counters(2)
+
+start_race(1)
+start_race(2)
+
+config_IOs
+
+car1 = struct;
+car2 = struct;
+
+while 1
+ %% PRE-LOOP
+ if strcmp(get(hf,'currentcharacter'),'q')
+ close(hf)
+ break
+ end
+
+ figure(hf)
+ drawnow
+
+ %% READ
+ [car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
+ [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
+
+ if car1.new_lap || car1.new_check_point == true || car2.new_lap == true || car2.new_check_point == true
+ disp('###')
+ end
+
+ if car1.new_check_point
+ beep;
+ disp('car 1 cp')
+ end
+ if car2.new_check_point
+ beep;
+ disp('car 2 cp')
+ end
+ if car1.new_lap
+ beep;
+ disp('car 1 lap')
+ end
+ if car2.new_lap
+ beep;
+ disp('car 2 lap')
+ end
+ % KOMPENSERA FÖR TRASIG BANA
+ if car1.new_lap && (car2.new_check_point || car1.new_check_point)
+ car2.new_lap = 0;
+ elseif car1.new_lap
+ car2.new_lap = 1;
+ end
+ pause(0.1)
+
+ if car1.new_lap || car1.new_check_point == true || car2.new_lap == true || car2.new_check_point == true
+ disp('---')
+ end
+
+ if car1.new_lap
+ disp('New lap car 1')
+ end
+ if car1.new_check_point
+ disp('New checkpoint car 1')
+ end
+ if car2.new_lap
+ disp('NEW LAP CAR 2!')
+ end
+ if car2.new_check_point
+ disp('NEW CHECKPOINT CAR 2!')
+ end
+
+ pause(0.1)
+end
+
+%%
+terminate(1)
+terminate(2) \ No newline at end of file
generated by cgit v1.2.1 (git 2.18.0) at 2025-12-13 21:56:13 +0100