diff options
| -rw-r--r-- | Kod/bilbana/yc4/do_boot.m | 2 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/do_car.m | 14 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 6 |
3 files changed, 11 insertions, 11 deletions
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m index 34ad43b..9c4930c 100644 --- a/Kod/bilbana/yc4/do_boot.m +++ b/Kod/bilbana/yc4/do_boot.m @@ -53,7 +53,7 @@ if car.running == true 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 + 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 82c4f40..7728c28 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -41,7 +41,7 @@ halt - Huruvida koden ska stoppas eller inte halt = false; if car.running == true [car.new_lap, car.new_check_point, car.time] = get_car_position(car.num); - if car.new_check_point == true && rand < car.miss_probability && car.lap >= 4 + if car.new_check_point == true && rand < car.miss_probability && car.lap > 5 disp('Hoppar �ver givare'); car.new_check_point = false; beep; @@ -54,20 +54,20 @@ end %% READ INPUT FROM TRACK if car.running == true - if car.lap ~= 0 - if toc(car.seg_tic) > 9.0 && not(boot.status) + if car.lap ~= 0 && not(boot.status) + if toc(car.seg_tic) > 9.0 set_car_speed(1, 0); set_car_speed(2, 0); %disp(strjoin({'AvÃ¥kning bil', num2str(car.num)})); disp('J = Ja, N = Nej') car.response = input('Vill du fortsätta? [N] ', 's'); - if car.response == 'J' + if car.response == 'J' car.seg_tic = tic; else halt = true; return; - end - end + end + end end %% CALC POSITION @@ -75,7 +75,7 @@ if car.running == true % car.last_seg_times = car.seg_times(car.lap - 1, 1:9); aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car.lap, car.seg_times, car.num, car.seg_len); car.position = get_position(aprox_v, car.position, t); - if detect_missed( car.position, car.segment, car.num, car.pos_at) + if detect_missed( car.position, car.segment, car.num, car.pos_at) disp('Miss?'); %disp(toc(car.miss_time)); diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index b8a1b32..d65abd4 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -78,7 +78,7 @@ 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.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; @@ -230,11 +230,11 @@ while 1 figure(hf) drawnow - [car1, halt, display.data] = do_car(car1, t, display.data); + [car1, halt, display.data] = do_car(car1, t, display.data, boot1); if halt break end - [car2, halt, display.data] = do_car(car2, t, display.data); + [car2, halt, display.data] = do_car(car2, t, display.data, boot2); if halt break end |