diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 47 |
1 files changed, 36 insertions, 11 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index e5ac062..7b9a2b1 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 +18,14 @@ 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()]; @@ -57,6 +60,8 @@ 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 = 0.5; +car1.boot = false; car2 = struct; car2.num = 2; @@ -76,6 +81,14 @@ 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 = 0.5; +car2.boot = false; + +boot = struct; +boot.car1 = false; +boot.car2 = false; +boot.car1_time = 0; +boot.car2_time = 0; t = 0; highToc = 0; @@ -87,6 +100,8 @@ car1.response = input('Vill du köra bil 1? [N] ', 's'); if car1.response == 'J' car1.running = true; car1.automatic = true; + boot.car1 = true; + boot.car1_time = tic; elseif car1.response == 'M' car1.running = true; car1.automatic = false; @@ -99,6 +114,8 @@ car2.response = input('Vill du köra bil 2? [N] ', 's'); if car2.response == 'J' car2.running = true; car2.automatic = true; + boot.car2 = true; + boot.car2_time = tic; elseif car2.response == 'M' car2.running = true; car2.automatic = false; @@ -114,8 +131,7 @@ elseif not(isreal(ref_time)) ref_time = 13; end %} -ref_time = 13; - +ref_time = 13 %% MAIN LOOP while 1 readTime = tic; @@ -130,9 +146,18 @@ 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 + if car1.boot + car1 = boot(car1, boot); + else + [car1, car1.stop, display.data] = do_car(car1, t, display.data); + end + if car2.boot + car2 = boot(car2, boot); + else + [car2, car2.stop, display.data] = do_car(car2, t, display.data); + end if car1.stop == true disp('stopped by car 1'); @@ -151,7 +176,7 @@ 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))]; |