diff options
| -rw-r--r-- | Kod/bilbana/yc4/display/get_response.m | 7 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/do_car.m | 2 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 9 |
3 files changed, 12 insertions, 6 deletions
diff --git a/Kod/bilbana/yc4/display/get_response.m b/Kod/bilbana/yc4/display/get_response.m index 1e3e6af..0c77a00 100644 --- a/Kod/bilbana/yc4/display/get_response.m +++ b/Kod/bilbana/yc4/display/get_response.m @@ -5,9 +5,14 @@ function [ack, start_code, responses] = get_response(display_data) ack = false; start_code = ''; -bcc = display_data(length(display_data)); responses = []; +if isempty(display_data) + return +end +bcc = display_data(length(display_data)); + + pointer = 1; if display_data(pointer) == 6 diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index 504486a..f822395 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -104,7 +104,7 @@ if car.running == true car.lap_tic = tic; car.position = 0; - display_data = {display_data, put_text(100, 16 + (16 * car.num), 'L', strjoin({num2str(car.lap), get_time_as_string(round(car.lap_times(car.lap) * 1000))}, ' '))}; + display_data = [display_data, put_text(100, 16 + (16 * car.num), 'L', strjoin({num2str(car.lap), get_time_as_string(round(car.lap_times(car.lap) * 1000))}, ' '))]; car.segment = 1; car.lap = car.lap + 1; diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index cc15f34..d79194d 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -15,6 +15,7 @@ display.shm_interp.start_code = ''; display.shm_interp.data = []; display.last_send = tic; display.last_request = tic; +display.send_interval = 0.5; disp('Startar bilbanan. Avsluta med q.') hf=figure('position', [0 0 eps eps], 'menubar', 'none'); @@ -22,7 +23,6 @@ hf=figure('position', [0 0 eps eps], 'menubar', 'none'); initialize_counters(1) initialize_counters(2) - config_IOs load('bilbana\files\Bana1.mat') @@ -60,6 +60,7 @@ car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; car2.map = Bana2; car2.miss_probability = 0.0; +t = 0; highToc = 0; %% ASK ACTIVE CARS @@ -101,8 +102,8 @@ 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); + [car1, car1.stop, display.data] = do_car(car1, t, display.data); + [car2, car2.stop, display.data] = do_car(car2, t, display.data); if car1.stop == true disp('stopped by car 1'); @@ -132,7 +133,7 @@ while 1 % request internal mem matlabclient(1, hex2dec(['12'; '01'; '53'; '66'])); end - disp(strjoin{'display took additional ', num2str(toc(display.send_delay))}); + % disp(strjoin({'display took additional ', num2str(toc(display.send_delay))})); % ACTUAL END OF LOOP t = toc(readTime); |