diff options
Diffstat (limited to 'Kod/bilbana/yc4/main.m')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 20 |
1 files changed, 2 insertions, 18 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 18fa982..4ca058a 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -15,7 +15,7 @@ start_race(2) %% INIT global log_debug; -log_debug = true; +log_debug = false; global log_verbose; log_verbose = false; % INIT DISPLAY @@ -55,7 +55,7 @@ car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99]; car1.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113]; % TODO car1.map = Bana1; %car1.approximation = []; -car1.miss_probability = 0.0; +car1.miss_probability = 0.05; car1.constant = 0.1; car1.stop = false; car1.governs = []; @@ -124,64 +124,48 @@ done = false; while 1 pause(0.1); if toc(display.last_check) > 0.4 - verbose('DISPLAY', 'toc > 0.4'); display.last_check = tic; % read internal mem from last send [display.out, display.shm] = matlabclient(2); [display.shm_interp.ack, display.shm_interp.start_code, display.shm_interp.data] = get_response(display.shm); - verbose('DISPLAY', 'Requesting internal mem for next cycle...'); % request internal mem matlabclient(1, hex2dec(['12'; '01'; '53'; '66'])); if isempty(display.shm_interp.data) - verbose('DISPLAY', 'No response'); continue end - debug('DISPLAY', ['Reading ', num2str(length(display.shm_interp.data)), ' package(-s)']); update_ref_time = false; for i = 1:length(display.shm_interp.data) data = display.shm_interp.data(i); if data.data == 32 - debug('DISPLAY', ... - 'Start-button pressed, exiting when no more packages'); done = true; elseif data.data == 11 - debug('DISPLAY', 'Enabling car 1'); car1.running = true; elseif data.data == 12 - debug('DISPLAY', 'Disabling car 1'); car1.running = false; elseif data.data == 13 - debug('DISPLAY', 'Enabling car 1 manual'); car1.automatic = false; elseif data.data == 14 - debug('DISPLAY', 'Disabling car 1'); car1.automatic = true; elseif data.data == 21 - debug('DISPLAY', 'Enabling car 2'); car2.running = true; elseif data.data == 22 - debug('DISPLAY', 'Disabling car 2'); car2.running = false; elseif data.data == 23 - debug('DISPLAY', 'Enabling car 2 manual'); car2.automatic = false; elseif data.data == 24 - debug('DISPLAY', 'Disabling car 2 manual'); car2.automatic = true; elseif data.data == 41 % ignore elseif data.data == 42 - debug('DISPLAY', ['Decreasing ref_time to ', num2str(ref_time)]); ref_time = max(ref_time - 0.5, 12.0); update_ref_time = true; elseif data.data == 43 % ignore elseif data.data == 44 - debug('DISPLAY', ['Increasing ref_time to ', num2str(ref_time)]); ref_time = min(ref_time + 0.5, 15.0); update_ref_time = true; end |