diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 81df18b..950a9f8 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -113,11 +113,18 @@ while 1 end car1.segment = car1.segment + 1; car1.seg_tic = tic; - approximation = car1.position; % Måste vara innan nästa rad - car1.position = car1.seg_len(car1.segment); + %approximation = car1.position; % Måste vara innan nästa rad + %car1.position = car1.seg_len(car1.segment); % Jämför get_position med indata - approximation = approximation - car1.position; - car1.approximation(car1.lap, car1.segment) = approximation; + %approximation = approximation - car1.position; + %car1.approximation(car1.lap, car1.segment) = approximation; + if car1.lap > 2 %Säkerhetsmarginal (Bör vara 1?) + x = choose_position(car1.position,car1.segment, 1); + car1.position = x(1); + car1.segment = car1.segment + x(2); + else + car1.position = car1.seg_len(car1.segment); + end end if car1.new_lap == true if car1.lap == 0 |