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-rw-r--r--Kod/bilbana/yc4/main.m212
1 files changed, 136 insertions, 76 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index efadd55..bfeaa60 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -22,12 +22,16 @@ start_race(1)
start_race(2)
car1 = struct;
+car1.running = false;
+car1.automatic = true;
car1.segment = 1;
car1.lap = 0;
car1.lap_times = [];
car1.seg_times = [];
car2 = struct;
+car2.running = false;
+car2.automatic = true;
car2.segment = 1;
car2.lap = 0;
car2.lap_times = [];
@@ -35,6 +39,32 @@ car2.seg_times = [];
tocs = [];
+%% ASK ACTIVE CARS
+disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej');
+
+car1.response = input('Vill du k�ra bil 1? [N] ', 's');
+if car1.response == 'J'
+ car1.running = true;
+ car1.automatic = true;
+elseif car1.response == 'M'
+ car1.running = true;
+ car1.automatic = false;
+else
+ car1.running = false;
+end
+
+car2.response = input('Vill du k�ra bil 2? [N] ', 's');
+if car2.response == 'J'
+ car2.running = true;
+ car2.automatic = true;
+elseif car2.response == 'M'
+ car2.running = true;
+ car2.automatic = false;
+else
+ car2.running = false;
+end
+
+
%% MAIN LOOP
while 1
tic;
@@ -48,87 +78,113 @@ while 1
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);
-
- %% CHECK LAP AND CHECKPOINT (CAR 1)
- if car1.new_check_point == true
- % beep;
- if car1.lap ~= 0
- car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
- end
- car1.segment = car1.segment + 1;
- car1.seg_tic = tic;
- end
- if car1.new_lap == true
- if car1.lap == 0
- % dont save time for first lap
- car1.segment = 1;
- car1.lap = car1.lap + 1;
- car1.seg_tic = tic;
- car1.lap_tic = tic;
- continue;
- end
- beep;
- car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
- car1.seg_tic = tic;
- car1.lap_times(car1.lap) = toc(car1.lap_tic);
- car1.lap_tic = tic;
-
- display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))};
-
- car1.segment = 1;
- car1.lap = car1.lap + 1;
+ if car1.running == true
+ [car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
end
+ if car2.running == true
+ [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
+ end
+ %% CHECK LAP AND CHECKPOINT (CAR 1)
+ if car1.running == true
+ if car1.new_check_point == true
+ % beep;
+ if car1.lap ~= 0
+ car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
+ end
+ car1.segment = car1.segment + 1;
+ car1.seg_tic = tic;
+ end
+ if car1.new_lap == true
+ if car1.lap == 0
+ % dont save time for first lap
+ car1.segment = 1;
+ car1.lap = car1.lap + 1;
+ car1.seg_tic = tic;
+ car1.lap_tic = tic;
+ continue;
+ end
+ beep;
+ car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
+ car1.seg_tic = tic;
+ car1.lap_times(car1.lap) = toc(car1.lap_tic);
+ car1.lap_tic = tic;
+
+ display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))};
+
+ car1.segment = 1;
+ car1.lap = car1.lap + 1;
+ end
+ end
+
%% CHECK LAP AND CHECKPOINT (CAR 2)
- if car2.new_check_point == true
- % beep;
- if car2.lap ~= 0
- car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
- end
- car2.segment = car2.segment + 1;
- car2.seg_tic = tic;
- end
- if car2.new_lap == true
- if car2.lap == 0
- % dont save time for first lap
- car2.segment = 1;
- car2.lap = car2.lap + 1;
- car2.seg_tic = tic;
- car2.lap_tic = tic;
- disp('continuing');
- continue;
- end
- beep;
-
- car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
- car2.seg_tic = tic;
- car2.lap_times(car2.lap) = toc(car2.lap_tic);
- car2.lap_tic = tic;
-
- display_data = {display_data, put_text(100, 48, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))};
-
- car2.segment = 1;
- car2.lap = car2.lap + 1;
- end
-
- %% CALCULATE (CAR 1)
- car1.car_constant = get_car_constant(1);
- car1.v = get_new_v(car1.segment);
- car1.track_u_constant = get_track_u_constant();
- car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant);
+ if car2.running == true
+ if car2.new_check_point == true
+ % beep;
+ if car2.lap ~= 0
+ car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
+ end
+ car2.segment = car2.segment + 1;
+ car2.seg_tic = tic;
+ end
+ if car2.new_lap == true
+ if car2.lap == 0
+ % dont save time for first lap
+ car2.segment = 1;
+ car2.lap = car2.lap + 1;
+ car2.seg_tic = tic;
+ car2.lap_tic = tic;
+ disp('continuing');
+ continue;
+ end
+ beep;
+
+ car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
+ car2.seg_tic = tic;
+ car2.lap_times(car2.lap) = toc(car2.lap_tic);
+ car2.lap_tic = tic;
+
+ display_data = {display_data, put_text(100, 48, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))};
+
+ car2.segment = 1;
+ car2.lap = car2.lap + 1;
+ end
+ end
+
+ %% CALCULATE (CAR 1)
+ if car1.running == true && car1.automatic == true
+ car1.car_constant = get_car_constant(1);
+ car1.v = get_new_v(car1.segment);
+ car1.track_u_constant = get_track_u_constant();
+ car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant);
+ end
%% CALCULATE (CAR 2)
- car2.car_constant = get_car_constant(2);
- car2.v = get_new_v(car2.segment);
- car2.track_u_constant = get_track_u_constant();
- car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant);
+ if car2.running == true && car2.automatic == true
+ car2.car_constant = get_car_constant(2);
+ car2.v = get_new_v(car2.segment);
+ car2.track_u_constant = get_track_u_constant();
+ car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant);
+ end
+ %% CONTROLLER (CAR 1)
+ if car1.running == true && car1.automatic == false
+ % TODO
+ end
+
+ %% CONTROLLER (CAR 2)
+ if car2.running == true && car2.automatic == false
+ % TODO
+ end
+
+
%% EXECUTE
- set_car_speed(1, car1.u);
- set_car_speed(2, car2.u);
-
+ if car1.running == true && car1.automatic == true
+ set_car_speed(1, car1.u);
+ end
+ if car2.running == true && car2.automatic == true
+ set_car_speed(2, car2.u);
+ end
%% DISPLAY
%% END OF LOOP
@@ -149,5 +205,9 @@ matlabclient(3);
%% DISPLAY GRAPHS
-graphs(car1.lap_times, 13, car1.seg_times, 1);
-graphs(car2.lap_times, 13, car2.seg_times, 2); \ No newline at end of file
+if car1.running == true
+ graphs(car1.lap_times, 13, car1.seg_times, 1);
+end
+if car2.running == true
+ graphs(car2.lap_times, 13, car2.seg_times, 2);
+end
generated by cgit v1.2.1 (git 2.18.0) at 2025-12-14 07:12:40 +0100