diff options
Diffstat (limited to 'Kod/bilbana')
| -rw-r--r-- | Kod/bilbana/yc4/do_car.m | 7 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 1 |
2 files changed, 6 insertions, 2 deletions
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index f205f02..08c25fe 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -90,6 +90,7 @@ if car.running == true if car.new_lap == false % choose_position krachar vid nytt varv (seg 10) if car.lap ~= 0 car.seg_times(car.lap, car.segment) = toc(car.seg_tic); + car.seg_constant_list(car.lap, car.segment) = car.seg_constant; end car.segment = car.segment + 1; car.seg_tic = tic; @@ -105,6 +106,7 @@ if car.running == true end if seg_plus ~= 0 car.seg_times(car.lap, car.segment - seg_plus - 1) = 0; + car.seg_constant_list(car.lap, car.segment - seg_plus - 1) = 0; disp(car.seg_times(car.lap, :)) disp(seg_plus) end @@ -132,6 +134,7 @@ if car.running == true % Spara inte seg_time om missad givare if car.segment == 9 car.seg_times(car.lap, car.segment) = toc(car.seg_tic); + car.seg_constant_list(car.lap, car.segment) = car.seg_constant; end car.seg_tic = tic; car.lap_times(car.lap) = toc(car.lap_tic); @@ -156,8 +159,8 @@ end %% CALCULATE if car.running == true && car.automatic == true car.v = get_new_v(car.position, car.map); - seg_constant = get_seg_constant(car.position, car.lap_constants, car.num, car.pos_at); - car.u = get_new_u(car.v, seg_constant); + car.seg_constant = get_seg_constant(car.position, car.lap_constants, car.num, car.pos_at); + car.u = get_new_u(car.v, car.seg_constant); end %% CONTROLLER diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 9b31618..e5ac062 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -75,6 +75,7 @@ car2.map = Bana2; 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; t = 0; highToc = 0; |