1 files changed, 111 insertions, 0 deletions
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
new file mode 100644
index 0000000..118aaec
--- /dev/null
+++ b/Kod/bilbana/yc4/do_car.m
@@ -0,0 +1,111 @@
+function [car, stop] = do_car(car)
+
+stop = false;
+
+if car.running == true
+	[car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
+	if car.new_check_point == true && rand < car.miss_probability && car.lap >= 4
+		disp('Hoppar �ver givare');
+		car.new_check_point = false;
+		beep;
+	end
+end
+
+%% CHECK LAP AND CHECKPOINT
+if car.running == true
+	if car.lap ~= 0
+		if toc(car.seg_tic) > 9.0
+			set_car_speed(1, 0);
+			set_car_speed(2, 0);
+			disp(strjoin{'Avåkning bil'; num2str(car.num)});
+			disp('J = Ja, N = Nej')
+			car.response = input('Vill du fortsätta? [N] ', 's');
+			if car.response == 'J'
+				car.seg_tic = tic;
+			else
+				stop = true;
+				return;
+			end
+		end
+	end
+	%% CALC POSITION
+	if car.lap > 1
+		car.last_seg_times = car.seg_times(car.lap - 1, 1:9);
+		aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num), car.lap, car.seg_times, car.num);
+		car.position = get_position(aprox_v, car.position, t);
+		if detect_missed( car.position, car.segment, car.num)
+			disp('Miss?');
+			
+			%disp(toc(car.miss_time));
+			%if car.miss_time == 0
+			 %   car.miss_time = tic;
+			%end
+		end
+	end
+	if car.new_check_point == 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
+			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);
+				if seg_plus ~= 0 && car.segment == 1
+					disp('Hoppar �ver missad givare 1/2');
+				else
+					car.position = new_position;
+					car.segment = car.segment + seg_plus;
+				end
+				%car.miss_time = uint64(0);
+			else
+				car.position = car.seg_len(car.segment);
+				%car.miss_time = uint64(0);
+			end
+		end
+	end
+	if car.new_lap == true
+		car.new_lap = false;
+		beep;
+		if car.lap == 0
+			% dont save time for first lap
+			car.segment = 1;
+			car.lap = car.lap + 1;
+			car.seg_tic = tic;
+			car.lap_tic = tic;
+		else
+		% beep;
+			car.seg_times(car.lap, car.segment) = toc(car.seg_tic);
+			car.seg_tic = tic;
+			car.lap_times(car.lap) = toc(car.lap_tic);
+			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))}, ' '))};
+
+			car.segment = 1;
+			car.lap = car.lap + 1;
+		end
+	end
+end
+
+%% CALCULATE
+if car.running == true && car.automatic == true
+	car.car_constant = get_car_constant(car.num);
+	car.v = get_new_v(car.position, car.map);
+	car.track_u_constant = get_track_u_constant();
+	car.u = get_new_u(car.v, car.car_constant, car.track_u_constant);
+end
+
+%% CONTROLLER
+if car.running == true && car.automatic == false
+	set_car_speed(car.num, mult * ((max - get_manual_speed(car.num)) / div));
+end
+
+%% EXECUTE
+if car.running == true && car.automatic == true
+	set_car_speed(car.num, car.u);
+end
+end