diff options
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 102 |
1 files changed, 51 insertions, 51 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 793aefb..6fd0172 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -19,6 +19,7 @@ initialize_counters(2) config_IOs load('bilbana\files\Bana1.mat') +load('bilbana\files\Bana2.mat') start_race(1) % start_race(2) @@ -33,7 +34,7 @@ car1.seg_times = []; car1.position = 0; car1.seg_len = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57]; -%{ + car2 = struct; car2.running = false; car2.automatic = true; @@ -43,7 +44,7 @@ car2.lap_times = []; car2.seg_times = []; car2.position = 0; car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; -%} + highToc = 0; @@ -61,7 +62,7 @@ else car1.running = false; end -%{ + car2.response = input('Vill du köra bil 2? [N] ', 's'); if car2.response == 'J' car2.running = true; @@ -72,7 +73,7 @@ elseif car2.response == 'M' else car2.running = false; end -%} + %% MAIN LOOP while 1 @@ -85,16 +86,17 @@ while 1 figure(hf) drawnow + % disp(car1); %% READ 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 - %} + end + %% CHECK LAP AND CHECKPOINT (CAR 1) if car1.running == true @@ -137,52 +139,51 @@ while 1 end end - %{ - TODO 1 -> 2 - %% CHECK LAP AND CHECKPOINT (CAR 1) - if car1.running == true + + %% CHECK LAP AND CHECKPOINT (CAR 2) + if car2.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); + %% CALC POSITION (CAR 2) + if car2.lap ~= 0 + if car2.lap > 1 + last_seg_times2 = car2.seg_times(car2.lap - 1, 1:9); + aprox_v = get_aprox_v(car2.segment, last_seg_times2); + car2.position = get_position(aprox_v, car2.position, t); end end - if car1.new_check_point == true + if car2.new_check_point == true % beep; - if car1.lap ~= 0 - car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic); + if car2.lap ~= 0 + car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic); end - car1.segment = car1.segment + 1; - car1.seg_tic = tic; - car1.position = car1.seg_len(car1.segment); + car2.segment = car2.segment + 1; + car2.seg_tic = tic; + car2.position = car2.seg_len(car2.segment); end - if car1.new_lap == true - if car1.lap == 0 + if car2.new_lap == true + if car2.lap == 0 % dont save time for first lap - car1.segment = 1; - car1.lap = car1.lap + 1; - car1.seg_tic = tic; - car1.lap_tic = tic; + car2.segment = 1; + car2.lap = car2.lap + 1; + car2.seg_tic = tic; + car2.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; - car1.position = 0; + 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; + car2.position = 0; - display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))}; + display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))}; - car1.segment = 1; - car1.lap = car1.lap + 1; + car2.segment = 1; + car2.lap = car2.lap + 1; end end - %} + %% CALCULATE (CAR 1) if car1.running == true && car1.automatic == true @@ -192,7 +193,7 @@ while 1 car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant); end - %{ + %% CALCULATE (CAR 2) if car2.running == true && car2.automatic == true car2.car_constant = get_car_constant(2); @@ -200,7 +201,7 @@ while 1 car2.track_u_constant = get_track_u_constant(); car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant); end - %} + % TEMP VARIABLES FOR MANUAL CONTROL mult = 100; @@ -212,23 +213,23 @@ while 1 set_car_speed(1, mult * ((max - get_manual_speed(1)) / div)); end - %{ + %% CONTROLLER (CAR 2) if car2.running == true && car2.automatic == false - set_car_speed(2, _mult * ((_max - get_manual_speed(2)) / _div)); + set_car_speed(2, mult * ((max - get_manual_speed(2)) / div)); end - %} + %% EXECUTE 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 - %} + end + %% DISPLAY @@ -253,10 +254,10 @@ end %% END OF PROGRAM disp(highToc); disp(car1); -% disp(car2); +disp(car2); terminate(1); -% terminate(2); +terminate(2); matlabclient(3); @@ -266,8 +267,7 @@ if car1.running == true graphs(car1.lap_times, 13.00, car1.seg_times, 1); end -%{ + if car2.running == true graphs(car2.lap_times, 13, car2.seg_times, 2); -end -%} +end
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