1 files changed, 31 insertions, 67 deletions

diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 221caea..66e8db3 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -16,12 +16,14 @@ hf=figure('position',[0 0 eps eps],'menubar','none');
 initialize_counters(1)
 initialize_counters(2)
 
+
 config_IOs
 
 load('bilbana\files\Bana1.mat')
+load('bilbana\files\Bana2.mat')
 
 start_race(1)
-% start_race(2)
+start_race(2)
 
 car1 = struct;
 car1.running = false;
@@ -36,7 +38,7 @@ car1.approximation = [];
 car1.miss_probability = 0.1;
 %car1.miss_time = uint64(0);
 
-%{
+
 car2 = struct;
 car2.running = false;
 car2.automatic = true;
@@ -46,7 +48,7 @@ car2.lap_times = [];
 car2.seg_times = [];
 car2.position = 0;
 car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
-%}
+
 
 highToc = 0;
 
@@ -64,7 +66,7 @@ else
 	car1.running = false;
 end
 
-%{
+
 car2.response = input('Vill du köra bil 2? [N] ', 's');
 if car2.response == 'J'
 	car2.running = true;
@@ -75,7 +77,7 @@ elseif car2.response == 'M'
 else
 	car2.running = false;
 end
-%}
+
 
 %% MAIN LOOP
 while 1
@@ -88,28 +90,29 @@ while 1
     
     figure(hf)
     drawnow
+    % disp(car1);
     
     %% READ
     if car1.running == true
 		[car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
         if car1.new_check_point == true && rand < car1.miss_probability && car1.lap >= 4
-            disp('Hoppar över givare');
+            disp('Hoppar �ver givare');
             car1.new_check_point = false;
             beep;
         end
     end
-	%{
+	
     if car2.running == true
 		[car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
-	end
-    %}
+    end
+    
     
     %% CHECK LAP AND CHECKPOINT (CAR 1)
     if car1.running == true
         %% CALC POSITION (CAR 1)
         if car1.lap > 1
             last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9);
-            aprox_v = get_aprox_v(car1.segment + detect_missed( car1.position, car1.segment, 1), car1.lap, car1.seg_times);
+            aprox_v = get_aprox_v(car1.segment + detect_missed( car1.position, car1.segment, 1), car1.lap, car1.seg_times, 1);
             car1.position = get_position(aprox_v, car1.position, t);
             if detect_missed( car1.position, car1.segment, 1)
                 disp('Miss?');
@@ -127,12 +130,12 @@ while 1
                 end
                 car1.segment = car1.segment + 1;
                 car1.seg_tic = tic;
-                if car1.lap > 2 % Säkerhetsmarginal (Bör vara 1?)
+                if car1.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
                     disp(car1);
                     [new_position, seg_plus] = ...
                             choose_position(car1.position, car1.segment, 1);
                     if seg_plus ~= 0 && car1.segment == 1
-                        disp('Hoppar över missad givare 1/2');
+                        disp('Hoppar �ver missad givare 1/2');
                     else
                         car1.position = new_position;
                         car1.segment = car1.segment + seg_plus;
@@ -168,49 +171,11 @@ while 1
         end
     end
 
-    %{
+    
+    
     %% CHECK LAP AND CHECKPOINT (CAR 2)
-	if car2.running == true
-        %% CALC POSITION (CAR 2)
-        if car2.lap ~= 0
-            if car2.lap > 1
-                last_seg_times1 = car2.seg_times(car2.lap - 1, 1:9);
-                aprox_v = get_aprox_v(car2.segment, last_seg_times2);  %TODO ??
-                car2.position = get_position(aprox_v, car2.position, delta_t);
-            end
-        end
-        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;
-            car2.position = car2.seg_len(car2.segment);
-        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;
-                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;
-            car2.position = 0;
-
-            display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))};
-
-            car2.segment = 1;
-            car2.lap = car2.lap + 1;
-        end
-    end
-    %}
+    % TODO copy from car1
+    
 
 	%% CALCULATE (CAR 1)
     if car1.running == true && car1.automatic == true
@@ -220,7 +185,7 @@ while 1
 		car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant);
     end
     
-    %{
+    
     %% CALCULATE (CAR 2)
 	if car2.running == true && car2.automatic == true
 		car2.car_constant = get_car_constant(2);
@@ -228,7 +193,7 @@ while 1
 		car2.track_u_constant = get_track_u_constant();
 		car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant);
 	end
-    %}
+    
     
 	% TEMP VARIABLES FOR MANUAL CONTROL
 	mult = 100;
@@ -240,23 +205,23 @@ while 1
 		set_car_speed(1, mult * ((max - get_manual_speed(1)) / div));
 	end
 
-	%{
+	
 	%% CONTROLLER (CAR 2)
 	if car2.running == true && car2.automatic == false
-		set_car_speed(2, _mult * ((_max - get_manual_speed(2)) / _div));
+		set_car_speed(2, mult * ((max - get_manual_speed(2)) / div));
 	end
-    %}
+    
 
     %% EXECUTE
     if car1.running == true && car1.automatic == true
 		set_car_speed(1, car1.u);
     end
     
-    %{
+    
     if car2.running == true && car2.automatic == true
    		set_car_speed(2, car2.u);
-	end
-    %}
+    end
+    
     
     %% DISPLAY
     
@@ -281,10 +246,10 @@ end
 %% END OF PROGRAM
 disp(highToc);
 disp(car1);
-% disp(car2);
+disp(car2);
 
 terminate(1);
-% terminate(2);
+terminate(2);
 
 matlabclient(3);
 
@@ -294,8 +259,7 @@ if car1.running == true
 	graphs(car1.lap_times, 13.00, car1.seg_times, 1);
 end
 
-%{
+
 if car2.running == true
 	graphs(car2.lap_times, 13, car2.seg_times, 2);
-end
-%}
+end
\ No newline at end of file