diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 20 |
1 files changed, 15 insertions, 5 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 96e5374..7f5264b 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -20,7 +20,6 @@ global log_verbose; log_verbose = false; % INIT DISPLAY if display_active - addpath display/ClientServerApp/Release cd display/ClientServerApp/Release !startServer @@ -56,6 +55,7 @@ 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; @@ -76,6 +76,8 @@ 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 @@ -133,7 +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; @@ -159,7 +162,14 @@ while 1 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; @@ -230,12 +240,12 @@ 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 |