diff options
| -rw-r--r-- | Kod/bilbana/yc4/choose_position.m | 2 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 15 |
2 files changed, 12 insertions, 5 deletions
diff --git a/Kod/bilbana/yc4/choose_position.m b/Kod/bilbana/yc4/choose_position.m index 469c733..ae900d6 100644 --- a/Kod/bilbana/yc4/choose_position.m +++ b/Kod/bilbana/yc4/choose_position.m @@ -1,4 +1,4 @@ -function [new_position, seg_plus] = choose_position(position,segment,t_missed, track) +function [new_position, seg_plus] = choose_position(position,segment, track) %CHOOSE_POSITION Välj vad position ska vara % Kör endast vid ny indata. Kollar om indatan är rimlig eller om någon % givare missats. Sedan väljs position efter vilken givare det var som diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 81df18b..950a9f8 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -113,11 +113,18 @@ while 1 end car1.segment = car1.segment + 1; car1.seg_tic = tic; - approximation = car1.position; % Måste vara innan nästa rad - car1.position = car1.seg_len(car1.segment); + %approximation = car1.position; % Måste vara innan nästa rad + %car1.position = car1.seg_len(car1.segment); % Jämför get_position med indata - approximation = approximation - car1.position; - car1.approximation(car1.lap, car1.segment) = approximation; + %approximation = approximation - car1.position; + %car1.approximation(car1.lap, car1.segment) = approximation; + if car1.lap > 2 %Säkerhetsmarginal (Bör vara 1?) + x = choose_position(car1.position,car1.segment, 1); + car1.position = x(1); + car1.segment = car1.segment + x(2); + else + car1.position = car1.seg_len(car1.segment); + end end if car1.new_lap == true if car1.lap == 0 |