diff options
| -rw-r--r-- | Kod/bilbana/files/Bana2.mat | bin | 0 -> 623 bytes | |||
| -rw-r--r-- | Kod/bilbana/files/Bana2.txt | 81 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 18 |
3 files changed, 88 insertions, 11 deletions
diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat Binary files differnew file mode 100644 index 0000000..622fc18 --- /dev/null +++ b/Kod/bilbana/files/Bana2.mat diff --git a/Kod/bilbana/files/Bana2.txt b/Kod/bilbana/files/Bana2.txt new file mode 100644 index 0000000..bb89c52 --- /dev/null +++ b/Kod/bilbana/files/Bana2.txt @@ -0,0 +1,81 @@ +total segment sub_segment v len +0 1 1 35 300 +30 1 2 40 350 +65 1 3 40 350 +100 1 4 50 350 +135 1 5 50 350 +170 1 6 40 350 +205 1 7 35 350 +240 1 8 30 125 +253 2 1 25 225 +275 2 2 25 300 +305 3 1 30 50 +310 3 2 30 200 +335 3 3 30 200 +360 3 4 30 200 +385 3 5 30 200 +410 3 6 30 200 +435 3 7 30 350 +470 3 8 30 275 +492 4 1 30 325 +524 4 2 30 350 +559 4 3 30 175 +578 4 4 30 175 +594 4 5 30 250 +614 4 6 30 250 +634 4 7 30 90 +643 4 8 30 235 +667 4 9 30 350 +702 4 10 30 250 +722 4 11 30 250 +742 4 12 30 250 +762 5 1 50 200 +787 5 2 50 200 +812 5 3 50 250 +832 5 4 50 250 +852 5 5 50 400 +902 6 1 50 250 +922 6 2 50 250 +942 6 3 50 250 +962 6 4 50 250 +982 6 5 50 250 +1002 6 6 50 350 +1037 6 7 50 350 +1072 7 1 40 200 +1097 7 2 40 90 +1101 7 3 40 250 +1126 7 4 40 250 +1146 7 5 40 350 +1181 7 6 40 200 +1206 7 7 40 235 +1229 7 8 40 235 +1253 7 9 40 250 +1273 7 10 40 350 +1308 7 11 50 175 +1325 7 12 50 200 +1350 7 13 50 200 +1375 7 14 50 200 +1400 7 15 50 175 +1418 7 16 50 200 +1443 7 17 50 200 +1468 8 1 50 250 +1488 8 2 60 200 +1513 8 3 60 175 +1530 8 4 60 200 +1556 8 5 50 200 +1580 8 6 50 235 +1604 8 7 50 350 +1639 8 8 50 200 +1664 8 9 50 200 +1689 8 10 50 350 +1724 8 11 50 175 +1741 8 12 50 350 +1776 9 1 35 200 +1801 9 2 35 200 +1826 9 3 35 350 +1861 9 4 35 350 +1896 9 5 35 175 +1916 9 6 35 200 +1939 9 7 35 200 +1964 9 8 35 315 +1995 9 9 35
\ No newline at end of file diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 5c089c9..793aefb 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -46,7 +46,6 @@ car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; %} highToc = 0; -delta_t = 0; %% ASK ACTIVE CARS disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej'); @@ -101,12 +100,10 @@ while 1 if car1.running == true %% CALC POSITION (CAR 1) - if car1.lap ~= 0 - if car1.lap > 1 - last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9); - aprox_v = get_aprox_v(car1.segment, last_seg_times1); - car1.position = get_position(aprox_v, car1.position, delta_t) - end + if car1.lap > 1 + last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9); + aprox_v = get_aprox_v(car1.segment, last_seg_times1); + car1.position = get_position(aprox_v, car1.position, t); end if car1.new_check_point == true % beep; @@ -188,7 +185,7 @@ while 1 %} %% CALCULATE (CAR 1) - if car1.running == true && car1.automatic == true + if car1.running == true && car1.automatic == true car1.car_constant = get_car_constant(1); car1.v = get_new_v(car1.position, Bana1); car1.track_u_constant = get_track_u_constant(); @@ -249,8 +246,7 @@ while 1 break; end end - - + send_data_to_display(); end @@ -267,7 +263,7 @@ matlabclient(3); %% DISPLAY GRAPHS if car1.running == true - graphs(car1.lap_times, 14.25, car1.seg_times, 1); + graphs(car1.lap_times, 13.00, car1.seg_times, 1); end %{ |