diff options
Diffstat (limited to 'Kod/bilbana/yc4/do_car.m')
| -rw-r--r-- | Kod/bilbana/yc4/do_car.m | 31 |
1 files changed, 23 insertions, 8 deletions
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index f205f02..cf534fa 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -1,4 +1,4 @@ -function [car, stop, display_data] = do_car(car, t, display_data) +function [car, stop, display_data] = do_car(car, t, display_data, boot) %DO_CAR Ger nya värden till struct car, avgör om koden ska stoppas samt hämtar displaydata. %{ Input/Output: @@ -44,7 +44,7 @@ end %% READ INPUT FROM TRACK if car.running == true if car.lap ~= 0 - if toc(car.seg_tic) > 9.0 + if toc(car.seg_tic) > 9.0 && not(boot.status) set_car_speed(1, 0); set_car_speed(2, 0); %disp(strjoin({'AvÃ¥kning bil', num2str(car.num)})); @@ -90,20 +90,31 @@ if car.running == true if car.new_lap == false % choose_position krachar vid nytt varv (seg 10) if car.lap ~= 0 car.seg_times(car.lap, car.segment) = toc(car.seg_tic); - end + end + + seg_time = car.seg_times(car.lap, car.segment) + lap_time_now = toc(car.lap_tic) + % s = vt + % v = s/t + % t = s/v + prev_seg_v = car.seg_len(car.segment) / toc(car.seg_tic) + track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1) + + car.forecasts(car.lap, car.segment) = lap_time_now + track_remaining/prev_seg_v + car.segment = car.segment + 1; car.seg_tic = tic; if car.lap > 2 % S�kerhetsmarginal (B�r vara 1?) disp(car) [new_position, seg_plus] = ... choose_position(car.position, car.segment, car.num, car.pos_at); - if seg_plus ~= 0 && car.segment == 2 + if seg_plus ~= 0 && car.segment == 2 disp('Hoppar �ver missad givare 1/2'); else car.position = new_position; car.segment = car.segment + seg_plus; end - if seg_plus ~= 0 + if seg_plus ~= 0 && car.segment ~= 2 car.seg_times(car.lap, car.segment - seg_plus - 1) = 0; disp(car.seg_times(car.lap, :)) disp(seg_plus) @@ -118,7 +129,9 @@ if car.running == true %% NEW LAP if car.new_lap == true - car.lap_constants = gov_set(get_car_constant(car.num)); + disp('NEW LAP') + + car.lap_constants = gov_set(car.constant); car.new_lap = false; %TODO remove beep; if car.lap == 0 @@ -138,6 +151,9 @@ if car.running == true car.lap_tic = tic; car.position = 0; + % save segment percentage from last lap + car.percents = fit_percents(car.percents, car.lap_times(car.lap), car.seg_times(car.lap,:)) + if car.lap == 1 && size(car.seg_times, 2) < 9 disp('FEL: För få segment!!') car.stopped = true; @@ -156,8 +172,7 @@ end %% CALCULATE if car.running == true && car.automatic == true car.v = get_new_v(car.position, car.map); - seg_constant = get_seg_constant(car.position, car.lap_constants, car.num, car.pos_at); - car.u = get_new_u(car.v, seg_constant); + car.u = get_new_u(car.v, car.constant); end %% CONTROLLER |