diff options
Diffstat (limited to 'Kod/bilbana')
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 61 |
1 files changed, 32 insertions, 29 deletions
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 4000d02..fa966e8 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -35,7 +35,7 @@ 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]; car1.approximation = []; -car1.miss_probability = 0.1; +car1.miss_probability = 0.0; %car1.miss_time = uint64(0); @@ -101,11 +101,11 @@ while 1 beep; end end - + disp(car1); if car2.running == true [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2); end - + disp(car2); %% CHECK LAP AND CHECKPOINT (CAR 1) if car1.running == true if car1.lap ~= 0 @@ -161,26 +161,28 @@ while 1 end end if car1.new_lap == true - disp('------------NEW LAP------------') + car1.new_lap = false; + beep; + disp('------------NEW LAP 1------------') if car1.lap == 0 % dont save time for first lap car1.segment = 1; car1.lap = car1.lap + 1; car1.seg_tic = tic; car1.lap_tic = tic; - continue; - end + else % 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; + 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; - 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(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))}; - car1.segment = 1; - car1.lap = car1.lap + 1; + car1.segment = 1; + car1.lap = car1.lap + 1; + end end end @@ -238,26 +240,27 @@ while 1 end end if car2.new_lap == true - disp('------------NEW LAP------------') + car2.new_lap = false; + disp('------------NEW LAP 2------------') 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; + else + % 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, 48, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))}; + display_data = {display_data, put_text(100, 48, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))}; - car2.segment = 1; - car2.lap = car2.lap + 1; + car2.segment = 1; + car2.lap = car2.lap + 1; + end end end @@ -270,7 +273,7 @@ while 1 end %% CALCULATE (CAR 2) - if car2.running == true && car2.automatic == true + if car2.running == true && car2.automatic == true car2.car_constant = get_car_constant(2); car2.v = get_new_v(car2.position, Bana2); car2.track_u_constant = get_track_u_constant(); @@ -288,7 +291,7 @@ while 1 end %% CONTROLLER (CAR 2) - if car2.running == true && car2.automatic == false + if car2.running == true && car2.automatic == false set_car_speed(2, mult * ((max - get_manual_speed(2)) / div)); end @@ -307,7 +310,7 @@ while 1 while 1 %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder pause(0.001); t = toc(readTime); - if t > 0.07 + if t > 0.1 if t > highToc highToc = t; %Om det nya v�rdet p� pausen �r h�gre �n den tidigare h�gsta s� sparas det som den h�gsta end |