1 files changed, 51 insertions, 51 deletions

diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 793aefb..6fd0172 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -19,6 +19,7 @@ initialize_counters(2)
 config_IOs
 
 load('bilbana\files\Bana1.mat')
+load('bilbana\files\Bana2.mat')
 
 start_race(1)
 % start_race(2)
@@ -33,7 +34,7 @@ car1.seg_times = [];
 car1.position = 0;
 car1.seg_len = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57];
 
-%{
+
 car2 = struct;
 car2.running = false;
 car2.automatic = true;
@@ -43,7 +44,7 @@ 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;
 
@@ -61,7 +62,7 @@ else
 	car1.running = false;
 end
 
-%{
+
 car2.response = input('Vill du köra bil 2? [N] ', 's');
 if car2.response == 'J'
 	car2.running = true;
@@ -72,7 +73,7 @@ elseif car2.response == 'M'
 else
 	car2.running = false;
 end
-%}
+
 
 %% MAIN LOOP
 while 1
@@ -85,16 +86,17 @@ 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);
     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
@@ -137,52 +139,51 @@ while 1
         end
     end
 
-    %{
-    TODO 1 -> 2
     
-    %% CHECK LAP AND CHECKPOINT (CAR 1)
-	if car1.running == true
+    
+    %% CHECK LAP AND CHECKPOINT (CAR 2)
+    if car2.running == true
         
-        %% CALC POSITION (CAR 1)
-        if car1.lap ~= 0
-            if car1.lap > 1
-                last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9);
-                aprox_v = get_aprox_v(car1.segment, last_seg_times1);
-                car1.position = get_position(aprox_v, car1.position, delta_t);
+        %% CALC POSITION (CAR 2)
+        if car2.lap ~= 0
+            if car2.lap > 1
+                last_seg_times2 = car2.seg_times(car2.lap - 1, 1:9);
+                aprox_v = get_aprox_v(car2.segment, last_seg_times2);
+                car2.position = get_position(aprox_v, car2.position, t);
             end
         end
-        if car1.new_check_point == true
+        if car2.new_check_point == true
             % beep;
-            if car1.lap ~= 0
-                car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
+            if car2.lap ~= 0
+                car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
             end
-            car1.segment = car1.segment + 1;
-            car1.seg_tic = tic;
-            car1.position = car1.seg_len(car1.segment);
+            car2.segment = car2.segment + 1;
+            car2.seg_tic = tic;
+            car2.position = car2.seg_len(car2.segment);
         end
-        if car1.new_lap == true
-            if car1.lap == 0
+        if car2.new_lap == true
+            if car2.lap == 0
                 % dont save time for first lap
-                car1.segment = 1;
-                car1.lap = car1.lap + 1;
-                car1.seg_tic = tic;
-                car1.lap_tic = tic;
+                car2.segment = 1;
+                car2.lap = car2.lap + 1;
+                car2.seg_tic = tic;
+                car2.lap_tic = tic;
                 continue;
             end
             beep;
-            car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
-            car1.seg_tic = tic;
-            car1.lap_times(car1.lap) = toc(car1.lap_tic);
-            car1.lap_tic = tic;
-            car1.position = 0;
+            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(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))};
+            display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))};
 
-            car1.segment = 1;
-            car1.lap = car1.lap + 1;
+            car2.segment = 1;
+            car2.lap = car2.lap + 1;
         end
     end
-    %}
+    
 
 	%% CALCULATE (CAR 1)
     if car1.running == true && car1.automatic == true
@@ -192,7 +193,7 @@ 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);
@@ -200,7 +201,7 @@ 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;
@@ -212,23 +213,23 @@ 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
     
@@ -253,10 +254,10 @@ end
 %% END OF PROGRAM
 disp(highToc);
 disp(car1);
-% disp(car2);
+disp(car2);
 
 terminate(1);
-% terminate(2);
+terminate(2);
 
 matlabclient(3);
 
@@ -266,8 +267,7 @@ 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