diff options
Diffstat (limited to 'Kod/bilbana/yc4/choose_position.m')
| -rw-r--r-- | Kod/bilbana/yc4/choose_position.m | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/Kod/bilbana/yc4/choose_position.m b/Kod/bilbana/yc4/choose_position.m index 39be6e4..d6db2ca 100644 --- a/Kod/bilbana/yc4/choose_position.m +++ b/Kod/bilbana/yc4/choose_position.m @@ -5,19 +5,19 @@ function [new_position, seg_plus] = choose_position(position,segment, track) % passerades. seg_plus anger om och med hur mycket car.segment bör % justeras för att kompensera efter missad givare. track_len = [0 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57; - 0 0 0 0 0 0 0 0 0]; + 0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; set_pos = [0 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57; - 0 0 0 0 0 0 0 0 0]; + 0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; pos_c = position; %% Vilken givare ligger närmast pos_c? near = []; for i = 1:length(track_len) - diff = abs(track_len(track,i)-pos_c); + diff = abs(track_len(track, i) - pos_c); if i == 1 - near = [i,diff]; + near = [i, diff]; else if diff < near(2) - near = [i,diff]; + near = [i, diff]; end end end @@ -29,10 +29,10 @@ if near(1) == segment disp('In right segment'); else if near(2) < 0.7 % Behöver bli smartare. Typ jämföra andra normal miss med denna miss - seg_plus = max(0, near(1) - segment) - new_position = set_pos( track, segment + seg_plus); + seg_plus = max(0, near(1) - segment); + new_position = set_pos(track, segment + seg_plus); else - new_position = set_pos( track, segment); % ineff borde kombineras + new_position = set_pos(track, segment); % ineff borde kombineras seg_plus = 0; disp('In right segment ich'); end |