diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 71 |
1 files changed, 54 insertions, 17 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 9b31618..7f5264b 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -1,4 +1,5 @@ clear all; +display_active = false; %% INIT TRACK disp('Startar bilbanan. Avsluta med q.') @@ -17,12 +18,13 @@ global log_debug; log_debug = true; global log_verbose; log_verbose = false; - % INIT DISPLAY -addpath display/ClientServerApp/Release -cd display/ClientServerApp/Release -!startServer -cd ../../.. +if display_active + addpath display/ClientServerApp/Release + cd display/ClientServerApp/Release + !startServer + cd ../../.. +end display = struct; display.data = [clear_display()]; @@ -53,10 +55,13 @@ 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.map = Bana1; car1.approximation = []; car1.miss_probability = 0.0; car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO +car1.constant = 0.1; +car1.stop = false; car2 = struct; car2.num = 2; @@ -71,10 +76,23 @@ car2.seg_times = []; car2.position = 0; car2.pos_at = [0.0 2.53 3.05 4.92 7.62 9.02 10.72 14.68 17.76 19.95]; 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 = 0.1; 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; + +boot1 = struct; +boot1.status = false; +boot1.time = 0; + +boot2 = struct; +boot2.status = false; +boot2.time = 0; t = 0; highToc = 0; @@ -86,6 +104,8 @@ car1.response = input('Vill du köra bil 1? [N] ', 's'); if car1.response == 'J' car1.running = true; car1.automatic = true; + boot1.status = true; + boot1.time = tic; elseif car1.response == 'M' car1.running = true; car1.automatic = false; @@ -98,6 +118,8 @@ car2.response = input('Vill du köra bil 2? [N] ', 's'); if car2.response == 'J' car2.running = true; car2.automatic = true; + boot2.status = true; + boot2.time = tic; elseif car2.response == 'M' car2.running = true; car2.automatic = false; @@ -113,8 +135,8 @@ elseif not(isreal(ref_time)) ref_time = 13; end %} -ref_time = 13; - +car1.ref_time = 15; +car2.ref_time = 15; %% MAIN LOOP while 1 readTime = tic; @@ -129,10 +151,25 @@ while 1 figure(hf) drawnow - - [car1, car1.stop, display.data] = do_car(car1, t, display.data); - [car2, car2.stop, display.data] = do_car(car2, t, display.data); - + + %% CORE OF LOOP + [car1, car1.stop, display.data] = do_car(car1, t, display.data, boot1); + [car2, car2.stop, display.data] = do_car(car2, t, display.data, boot2); + %% BOOTSTRAP + if boot1.status + [car1, boot1] = do_boot(car1, boot1); + end + if boot2.status + [car2, boot2] = do_boot(car2, boot2); + end + %% GOVERNOR + if not(boot1.status) && car1.lap ~= 0 + car1 = do_gov(car1); + end + if not(boot2.status) && car2.lap ~= 0 + car2 = do_gov(car2); + end + %% if car1.stop == true disp('stopped by car 1'); break; @@ -150,7 +187,7 @@ while 1 while 1 %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder % DISPLAY display.send_delay = tic; - if toc(display.last_send) > display.send_interval + if toc(display.last_send) > display.send_interval && display_active % queue control signal if car1.running && car1.automatic % display.data = [display.data, put_text(20, 16 + (16 * 1), 'L', num2str(car1.u))]; @@ -197,18 +234,18 @@ disp(car2); terminate(1); terminate(2); - -matlabclient(3); - +if display_active + matlabclient(3); +end %% DISPLAY GRAPHS if car1.running == true - graphs(car1.lap_times, ref_time, car1.seg_times, 1); + graphs(car1.lap_times, car1.ref_time, car1.seg_times, 1); end if car2.running == true - graphs(car2.lap_times, ref_time, car2.seg_times, 2); + graphs(car2.lap_times, car2.ref_time, car2.seg_times, 2); end %% SAVE VARIABLES FROM CAR STRUCT |