diff options
Diffstat (limited to 'Kod/bilbana/yc4/do_boot.m')
| -rw-r--r-- | Kod/bilbana/yc4/do_boot.m | 39 |
1 files changed, 20 insertions, 19 deletions
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m index 5019319..34ad43b 100644 --- a/Kod/bilbana/yc4/do_boot.m +++ b/Kod/bilbana/yc4/do_boot.m @@ -15,7 +15,7 @@ if car.running == true end %% WHEN NEW LAP if car.new_lap == 1 - car.constant = car.constant + 0.4; + car.constant = car.constant * 1.2; disp('###') disp(car.num) disp(car.constant) @@ -24,7 +24,7 @@ if car.running == true if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2 t = toc(boot.time); if t > 0.8 - car.constant = car.constant + 0.06; + car.constant = car.constant + 0.04; disp('###') disp(car.num) disp(car.constant) @@ -32,27 +32,28 @@ if car.running == true end end - %% ide höj carconstant så att den blir mer aggresivare ju längre tid som det går t.ex efter 3.5 s - %% if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2 - %% t = toc(boot.time); - %% if t > 1.0 - %% car.constant = car.constant + 0.5; - %% disp('###') - %% disp(car.num) - %% disp(car.constant) - %% boot.time = tic; - %% end - %% - %% end + % ide höj carconstant så att den blir mer aggresivare ju längre tid som går t.ex efter 3.5 s + % if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2 + % t = toc(boot.time); + % if t > 1.0 + % car.constant = car.constant + 0.5; + % disp('###') + % disp(car.num) + % disp(car.constant) + % boot.time = tic; + % end + % + % end %% END BOOTSTRAP if car.segment > 3 disp(car.constant); - seg_time = car.seg_times(1, 3) - laptime_forecast = seg_time / 0.102 - forecast_ref_diff = laptime_forecast - car.ref_time - forecast_ref_diff_rel = forecast_ref_diff / car.ref_time - car.constant = car.constant + (forecast_ref_diff_rel * 0.15) + seg_time = car.seg_times(1, 3); + laptime_forecast = seg_time / 0.102; + forecast_ref_diff = laptime_forecast - car.ref_time; + forecast_ref_diff_rel = forecast_ref_diff / car.ref_time; + car.constant = car.constant + (forecast_ref_diff_rel * 0.15); + % car.constant = car.constant * 1.05; % kompensation för kall bana boot.status = 0; disp('END OF BOOTSTRAP') disp(car.num) |