diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 39 |
1 files changed, 9 insertions, 30 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index f589c29..4ca058a 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -15,7 +15,7 @@ start_race(2) %% INIT global log_debug; -log_debug = true; +log_debug = false; global log_verbose; log_verbose = false; % INIT DISPLAY @@ -37,8 +37,7 @@ display.shm_interp.data = []; display.last_send = tic; display.send_interval = 0.5; -load('bilbana\files\Bana1.mat') -load('bilbana\files\Bana2.mat') +load('bilbana\files\Bana.mat') car1 = struct; car1.num = 1; @@ -50,18 +49,18 @@ car1.segment = 1; car1.lap = 0; car1.lap_times = []; car1.seg_times = []; -car1.seg_constant_list = []; % TODO car1.position = 0; car1.pos_at = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57 19.60]; car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99]; -car1.percents = []; % TODO +car1.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113]; % TODO car1.map = Bana1; -car1.approximation = []; -car1.miss_probability = 0.0; -car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO +%car1.approximation = []; +car1.miss_probability = 0.05; car1.constant = 0.1; car1.stop = false; car1.governs = []; +car1.forecasts = []; +car1.forecasts_naive = []; car2 = struct; car2.num = 2; @@ -79,13 +78,11 @@ car2.seg_len = [2.53 0.52 1.87 2.70 1.40 1.70 4.03 3.08 2.19]; car2.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113]; car2.map = Bana2; car2.miss_probability = 0.05; -car2.seg_constant_list = []; % TODO -car2.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO -car2.seg_constant = 1; car2.constant = 0.1; car2.stop = false; car2.governs = []; - +car2.forecasts = []; +car2.forecasts_naive = []; boot1 = struct; boot1.status = false; @@ -127,64 +124,48 @@ done = false; while 1 pause(0.1); if toc(display.last_check) > 0.4 - verbose('DISPLAY', 'toc > 0.4'); display.last_check = tic; % read internal mem from last send [display.out, display.shm] = matlabclient(2); [display.shm_interp.ack, display.shm_interp.start_code, display.shm_interp.data] = get_response(display.shm); - verbose('DISPLAY', 'Requesting internal mem for next cycle...'); % request internal mem matlabclient(1, hex2dec(['12'; '01'; '53'; '66'])); if isempty(display.shm_interp.data) - verbose('DISPLAY', 'No response'); continue end - debug('DISPLAY', ['Reading ', num2str(length(display.shm_interp.data)), ' package(-s)']); update_ref_time = false; for i = 1:length(display.shm_interp.data) data = display.shm_interp.data(i); if data.data == 32 - debug('DISPLAY', ... - 'Start-button pressed, exiting when no more packages'); done = true; elseif data.data == 11 - debug('DISPLAY', 'Enabling car 1'); car1.running = true; elseif data.data == 12 - debug('DISPLAY', 'Disabling car 1'); car1.running = false; elseif data.data == 13 - debug('DISPLAY', 'Enabling car 1 manual'); car1.automatic = false; elseif data.data == 14 - debug('DISPLAY', 'Disabling car 1'); car1.automatic = true; elseif data.data == 21 - debug('DISPLAY', 'Enabling car 2'); car2.running = true; elseif data.data == 22 - debug('DISPLAY', 'Disabling car 2'); car2.running = false; elseif data.data == 23 - debug('DISPLAY', 'Enabling car 2 manual'); car2.automatic = false; elseif data.data == 24 - debug('DISPLAY', 'Disabling car 2 manual'); car2.automatic = true; elseif data.data == 41 % ignore elseif data.data == 42 - debug('DISPLAY', ['Decreasing ref_time to ', num2str(ref_time)]); ref_time = max(ref_time - 0.5, 12.0); update_ref_time = true; elseif data.data == 43 % ignore elseif data.data == 44 - debug('DISPLAY', ['Increasing ref_time to ', num2str(ref_time)]); ref_time = min(ref_time + 0.5, 15.0); update_ref_time = true; end @@ -307,12 +288,10 @@ while 1 end end - %% END OF RACE disp(highToc); disp(car1); disp(car2); - terminate(1); terminate(2); |