3 files changed, 88 insertions, 11 deletions

diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
new file mode 100644
index 0000000..622fc18
--- /dev/null
+++ b/Kod/bilbana/files/Bana2.mat
diff --git a/Kod/bilbana/files/Bana2.txt b/Kod/bilbana/files/Bana2.txt
new file mode 100644
index 0000000..bb89c52
--- /dev/null
+++ b/Kod/bilbana/files/Bana2.txt
@@ -0,0 +1,81 @@
+total	segment	sub_segment	v	len
+0	1	1	35	300
+30	1	2	40	350
+65	1	3	40	350
+100	1	4	50	350
+135	1	5	50	350
+170	1	6	40	350
+205	1	7	35	350
+240	1	8	30	125
+253	2	1	25	225
+275	2	2	25	300
+305	3	1	30	50
+310	3	2	30	200
+335	3	3	30	200
+360	3	4	30	200
+385	3	5	30	200
+410	3	6	30	200
+435	3	7	30	350
+470	3	8	30	275
+492	4	1	30	325
+524	4	2	30	350
+559	4	3	30	175
+578	4	4	30	175
+594	4	5	30	250
+614	4	6	30	250
+634	4	7	30	90
+643	4	8	30	235
+667	4	9	30	350
+702	4	10	30	250
+722	4	11	30	250
+742	4	12	30	250
+762	5	1	50	200
+787	5	2	50	200
+812	5	3	50	250
+832	5	4	50	250
+852	5	5	50	400
+902	6	1	50	250
+922	6	2	50	250
+942	6	3	50	250
+962	6	4	50	250
+982	6	5	50	250
+1002	6	6	50	350
+1037	6	7	50	350
+1072	7	1	40	200
+1097	7	2	40	90
+1101	7	3	40	250
+1126	7	4	40	250
+1146	7	5	40	350
+1181	7	6	40	200
+1206	7	7	40	235
+1229	7	8	40	235
+1253	7	9	40	250
+1273	7	10	40	350
+1308	7	11	50	175
+1325	7	12	50	200
+1350	7	13	50	200
+1375	7	14	50	200
+1400	7	15	50	175
+1418	7	16	50	200
+1443	7	17	50	200
+1468	8	1	50	250
+1488	8	2	60	200
+1513	8	3	60	175
+1530	8	4	60	200
+1556	8	5	50	200
+1580	8	6	50	235
+1604	8	7	50	350
+1639	8	8	50	200
+1664	8	9	50	200
+1689	8	10	50	350
+1724	8	11	50	175
+1741	8	12	50	350
+1776	9	1	35	200
+1801	9	2	35	200
+1826	9	3	35	350
+1861	9	4	35	350
+1896	9	5	35	175
+1916	9	6	35	200
+1939	9	7	35	200
+1964	9	8	35	315
+1995	9	9	35	
\ No newline at end of file
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 5c089c9..793aefb 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -46,7 +46,6 @@ car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
 %}
 
 highToc = 0;
-delta_t = 0;
 
 %% ASK ACTIVE CARS
 disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej');
@@ -101,12 +100,10 @@ while 1
     if car1.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)
-            end
+        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, t);
         end
         if car1.new_check_point == true
             % beep;
@@ -188,7 +185,7 @@ while 1
     %}
 
 	%% CALCULATE (CAR 1)
-	if car1.running == true && car1.automatic == true
+    if car1.running == true && car1.automatic == true
 		car1.car_constant = get_car_constant(1);
 		car1.v = get_new_v(car1.position, Bana1);
 		car1.track_u_constant = get_track_u_constant();
@@ -249,8 +246,7 @@ while 1
             break;
         end
     end
-    
-    
+   
     send_data_to_display();
 end
  
@@ -267,7 +263,7 @@ matlabclient(3);
 %% DISPLAY GRAPHS
 
 if car1.running == true
-	graphs(car1.lap_times, 14.25, car1.seg_times, 1);
+	graphs(car1.lap_times, 13.00, car1.seg_times, 1);
 end
 
 %{