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Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 157 |
1 files changed, 157 insertions, 0 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m new file mode 100644 index 0000000..3bdf697 --- /dev/null +++ b/Kod/bilbana/yc4/main.m @@ -0,0 +1,157 @@ +%% INIT +% INIT DISPLAY +addpath display/ClientServerApp/Release +cd display/ClientServerApp/Release +!startServer +cd ../../.. + +global display_data; +display_data = {}; +display_data = {display_data clear_display()}; +pause(1); + +disp('Startar bilbanan. Avsluta med q.') +hf=figure('position',[0 0 eps eps],'menubar','none'); + +initialize_counters(1) +initialize_counters(2) + +config_IOs + +start_race(1) +start_race(2) + +car1 = struct; +car1.segment = 1; +car1.lap = 0; +car1.lap_times = []; +car1.seg_times = []; + +car2 = struct; +car2.segment = 1; +car2.lap = 0; +car2.lap_times = []; +car2.seg_times = []; + +tocs = []; + +%% MAIN LOOP +while 1 + tic; + %% PRE-LOOP + if strcmp(get(hf,'currentcharacter'),'q') + close(hf) + break + end + + figure(hf) + drawnow + + %% READ + [car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1); + [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2); + + %% CHECK LAP AND CHECKPOINT (CAR 1) + if car1.new_check_point == true + % beep; + if car1.lap ~= 0 + car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic); + end + car1.segment = car1.segment + 1; + car1.seg_tic = tic; + end + if car1.new_lap == true + if car1.lap == 0 + % dont save time for first lap + car1.segment = 1; + car1.lap = car1.lap + 1; + car1.seg_tic = tic; + car1.lap_tic = tic; + continue; + end + beep; + car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic); + car1.seg_tic = tic; + car1.lap_times(car1.lap) = toc(car1.lap_tic); + car1.lap_tic = tic; + + display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))}; + + car1.segment = 1; + car1.lap = car1.lap + 1; + + car1.seg_times(car1.lap, 1) = 0; + end + + %% CHECK LAP AND CHECKPOINT (CAR 2) + if car2.new_check_point == true + % beep; + if car2.lap ~= 0 + car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic); + end + car2.segment = car2.segment + 1; + car2.seg_tic = tic; + end + if car2.new_lap == true + if car2.lap == 0 + % dont save time for first lap + car2.segment = 1; + car2.lap = car2.lap + 1; + car2.seg_tic = tic; + car2.lap_tic = tic; + disp('continuing'); + continue; + end + beep; + + car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic); + car2.seg_tic = tic; + car2.lap_times(car2.lap) = toc(car2.lap_tic); + car2.lap_tic = tic; + + display_data = {display_data, put_text(100, 48, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))}; + + car2.segment = 1; + car2.lap = car2.lap + 1; + + car2.seg_times(car2.lap, 1) = 0; + end + + %% CALCULATE (CAR 1) + car1.car_constant = get_car_constant(1); + car1.v = get_new_v(car1.segment); + car1.track_u_constant = get_track_u_constant(); + car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant); + + %% CALCULATE (CAR 2) + car2.car_constant = get_car_constant(2); + car2.v = get_new_v(car2.segment); + car2.track_u_constant = get_track_u_constant(); + car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant); + + %% EXECUTE + set_car_speed(1, car1.u); + set_car_speed(2, car2.u); + + %% DISPLAY + + %% END OF LOOP + pause(0.1) + tocs(end + 1) = toc; + send_data_to_display(); +end + +%% END OF PROGRAM +disp(tocs); +disp(car1); +disp(car2); + +terminate(1); +terminate(2); + +matlabclient(3); + +%% DISPLAY GRAPHS + +graphs(car1.lap_times, 13, car1.seg_times, 1); +graphs(car2.lap_times, 13, car2.seg_times, 2);
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