summaryrefslogtreecommitdiffstats
path: root/Kod
diff options
context:
space:
mode:
Diffstat (limited to 'Kod')
-rw-r--r--Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.matbin0 -> 5888 bytes
-rw-r--r--Kod/bilbana/files/Bana.matbin0 -> 1175 bytes
-rw-r--r--Kod/bilbana/files/Bana1.matbin1216 -> 0 bytes
-rw-r--r--Kod/bilbana/files/Bana2.matbin1202 -> 0 bytes
-rw-r--r--Kod/bilbana/files/file_test.m3
-rw-r--r--Kod/bilbana/files/grå_bilbana1_2019-11-29T10.41.matbin0 -> 5931 bytes
-rw-r--r--Kod/bilbana/files/grå_bilbana1_2019-11-29T10.53.matbin0 -> 5886 bytes
-rw-r--r--Kod/bilbana/files/grå_bilbana1_2019-11-29T11.20.matbin0 -> 5895 bytes
-rw-r--r--Kod/bilbana/yc4/display/scenes/draw_lap_graph.m8
-rw-r--r--Kod/bilbana/yc4/do_boot.m52
-rw-r--r--Kod/bilbana/yc4/do_car.m97
-rw-r--r--Kod/bilbana/yc4/do_gov.m29
-rw-r--r--Kod/bilbana/yc4/fit_percents.m2
-rw-r--r--Kod/bilbana/yc4/get_aprox_v.m17
-rw-r--r--Kod/bilbana/yc4/main.m39
15 files changed, 127 insertions, 120 deletions
diff --git a/Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.mat b/Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.mat
new file mode 100644
index 0000000..393d76d
--- /dev/null
+++ b/Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.mat
Binary files differ
diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat
new file mode 100644
index 0000000..38918a6
--- /dev/null
+++ b/Kod/bilbana/files/Bana.mat
Binary files differ
diff --git a/Kod/bilbana/files/Bana1.mat b/Kod/bilbana/files/Bana1.mat
deleted file mode 100644
index e745c59..0000000
--- a/Kod/bilbana/files/Bana1.mat
+++ /dev/null
Binary files differ
diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
deleted file mode 100644
index 56d1acb..0000000
--- a/Kod/bilbana/files/Bana2.mat
+++ /dev/null
Binary files differ
diff --git a/Kod/bilbana/files/file_test.m b/Kod/bilbana/files/file_test.m
deleted file mode 100644
index 1370e7d..0000000
--- a/Kod/bilbana/files/file_test.m
+++ /dev/null
@@ -1,3 +0,0 @@
-Bana1
-car_position = 9.74;
-get_new_v(car_position, Bana1) \ No newline at end of file
diff --git a/Kod/bilbana/files/grå_bilbana1_2019-11-29T10.41.mat b/Kod/bilbana/files/grå_bilbana1_2019-11-29T10.41.mat
new file mode 100644
index 0000000..7e14c4f
--- /dev/null
+++ b/Kod/bilbana/files/grå_bilbana1_2019-11-29T10.41.mat
Binary files differ
diff --git a/Kod/bilbana/files/grå_bilbana1_2019-11-29T10.53.mat b/Kod/bilbana/files/grå_bilbana1_2019-11-29T10.53.mat
new file mode 100644
index 0000000..5bbd96b
--- /dev/null
+++ b/Kod/bilbana/files/grå_bilbana1_2019-11-29T10.53.mat
Binary files differ
diff --git a/Kod/bilbana/files/grå_bilbana1_2019-11-29T11.20.mat b/Kod/bilbana/files/grå_bilbana1_2019-11-29T11.20.mat
new file mode 100644
index 0000000..d42c6c9
--- /dev/null
+++ b/Kod/bilbana/files/grå_bilbana1_2019-11-29T11.20.mat
Binary files differ
diff --git a/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m b/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
index 9fd669b..ca5ec83 100644
--- a/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
+++ b/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
@@ -83,15 +83,15 @@ if ~(in_clipboard)
car1.avg = '--.-';
car1.dev = '-.--';
if length(car1_laptimes) > 5
- car1.avg = num2str(mean(car1_laptimes(6, length(car1_laptimes))), 3);
- car1.dev = num2str(std(car1_laptimes(6, length(car1_laptimes))), 2);
+ car1.avg = num2str(mean(car1_laptimes(6:length(car1_laptimes))), 3);
+ car1.dev = num2str(std(car1_laptimes(6:length(car1_laptimes))), 2);
end
car2 = struct;
car2.avg = '--.-';
car2.dev = '-.--';
if length(car2_laptimes) > 5
- car2.avg = num2str(mean(car2_laptimes(6, length(car2_laptimes))), 3);
- car2.dev = num2str(std(car2_laptimes(6, length(car2_laptimes))), 2);
+ car2.avg = num2str(mean(car2_laptimes(6:length(car2_laptimes))), 3);
+ car2.dev = num2str(std(car2_laptimes(6:length(car2_laptimes))), 2);
end
line = 12;
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 9c4930c..5b60eb8 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -5,29 +5,33 @@ if car.running == true
%% BEFORE FIRST LAP
if car.lap == 0
t = toc(boot.time);
- if t > 0.6
+ if t > 0.7
car.constant = car.constant + 0.12;
- disp('###')
- disp(car.num)
- disp(car.constant)
+ % disp('###')
+ % disp(car.num)
+ % disp(car.constant)
boot.time = tic;
end
end
%% WHEN NEW LAP
if car.new_lap == 1
- car.constant = car.constant * 1.2;
- disp('###')
- disp(car.num)
- disp(car.constant)
+ car.constant = car.constant + 0.2;
+ % disp('###')
+ % disp(car.num)
+ % disp(car.constant)
end
- %% First segment
+ %% First segments
if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
t = toc(boot.time);
- if t > 0.8
- car.constant = car.constant + 0.04;
- disp('###')
- disp(car.num)
- disp(car.constant)
+ if t > 1.2
+ if car.num == 1
+ car.constant = car.constant + 0.06;
+ else
+ car.constant = car.constant + 0.04;
+ end
+ % disp('###')
+ % disp(car.num)
+ % disp(car.constant)
boot.time = tic;
end
@@ -42,22 +46,20 @@ if car.running == true
% disp(car.constant)
% boot.time = tic;
% end
- %
% end
%% END BOOTSTRAP
if car.segment > 3
- disp(car.constant);
- seg_time = car.seg_times(1, 3);
- laptime_forecast = seg_time / 0.102;
- forecast_ref_diff = laptime_forecast - car.ref_time;
- forecast_ref_diff_rel = forecast_ref_diff / car.ref_time;
- car.constant = car.constant + (forecast_ref_diff_rel * 0.15);
- car.constant = car.constant * 1.05; % kompensation för kall bana
+ car.governs(length(car.governs) + 1) = car.constant;
+ % disp(car.constant);
+ status = car.forecasts_naive(car.lap, car.segment-1) / 15;
+ car.constant = car.constant + (status - 1) * 0.08;
+
boot.status = 0;
- disp('END OF BOOTSTRAP')
- disp(car.num)
- disp(car.constant)
+ % disp('END OF BOOTSTRAP')
+ % disp(car.num)
+ % disp(car.constant)
+ car.governs(length(car.governs) + 1) = car.constant;
end
end
end \ No newline at end of file
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 7728c28..92e4f8d 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -58,9 +58,9 @@ if car.running == true
if toc(car.seg_tic) > 9.0
set_car_speed(1, 0);
set_car_speed(2, 0);
- %disp(strjoin({'Avåkning bil', num2str(car.num)}));
- disp('J = Ja, N = Nej')
- car.response = input('Vill du fortsätta? [N] ', 's');
+ disp(strjoin({'Avåkning bil', num2str(car.num)}));
+ disp('(J = Ja, N = Nej)');
+ car.response = input('Vill du fortsätta? [N] ', 's');
if car.response == 'J'
car.seg_tic = tic;
else
@@ -73,10 +73,14 @@ if car.running == true
%% CALC POSITION
if car.automatic && car.lap > 1
% car.last_seg_times = car.seg_times(car.lap - 1, 1:9);
- aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car.lap, car.seg_times, car.num, car.seg_len);
+ aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car);
car.position = get_position(aprox_v, car.position, t);
+ if car.lap == 2 && car.segment < 4
+ % disp('####')
+ % disp(car.position)
+ end
if detect_missed( car.position, car.segment, car.num, car.pos_at)
- disp('Miss?');
+ % disp('Miss?');
%disp(toc(car.miss_time));
%if car.miss_time == 0
@@ -99,54 +103,51 @@ if car.running == true
%% CHECK POINT
if car.new_check_point == true
if car.new_lap == false % choose_position krachar vid nytt varv (seg 10)
- if car.lap ~= 0
+ if car.lap ~= 0
car.seg_times(car.lap, car.segment) = toc(car.seg_tic);
- end
-
- lap_time_now = toc(car.lap_tic);
- % s = vt
- % v = s/t
- % t = s/v
- prev_seg_v = car.seg_len(car.segment) / toc(car.seg_tic);
- track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1);
- forecast = lap_time_now + track_remaining/prev_seg_v;
-
- car.forecasts(car.lap, car.segment) = forecast;
-
- car.segment = car.segment + 1;
+ end
+
+ lap_time_now = toc(car.lap_tic);
+ % s = vt
+ % v = s/t
+ % t = s/v
+ prev_seg_v = car.seg_len(car.segment) / toc(car.seg_tic);
+ track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1);
+ car.forecasts(car.lap, car.segment) = lap_time_now + track_remaining/prev_seg_v;
+
+ car.forecasts_naive(car.lap, car.segment) = toc(car.seg_tic) / car.percents(car.segment);
+
+ car.segment = min(9, car.segment + 1);
car.seg_tic = tic;
-
- if car.automatic && car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
- disp(car)
+
+ if car.automatic && car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
[new_position, seg_plus] = ...
- choose_position(car.position, car.segment, car.num, car.pos_at);
- if seg_plus ~= 0 && car.segment == 2
+ choose_position(car.position, car.segment, car.num, car.pos_at);
+ if seg_plus ~= 0 && car.segment == 2
disp('Hoppar �ver missad givare 1/2');
else
car.position = new_position;
- car.segment = car.segment + seg_plus;
- end
- if seg_plus ~= 0 && car.segment ~= 2
- car.seg_times(car.lap, car.segment - seg_plus - 1) = 0;
- disp(car.seg_times(car.lap, :))
- disp(seg_plus)
- end
+ car.segment = min(9, car.segment + seg_plus);
+ end
+ if seg_plus ~= 0 && car.segment ~= 2
+ car.seg_times(car.lap, car.segment - seg_plus - 1) = 0;
+ disp(car.seg_times(car.lap, :))
+ disp(seg_plus)
+ end
%car.miss_time = uint64(0);
- else
+ else
car.position = car.pos_at(car.segment);
%car.miss_time = uint64(0);
- end
- end
+ end
+ end
+ disp(car)
end
%% NEW LAP
if car.new_lap == true
- disp('NEW LAP')
-
- car.lap_constants = gov_set(car.constant);
- % car.new_lap = false; %TODO remove
+ disp('NEW LAP')
beep;
- if car.lap == 0
+ if car.lap == 0
% dont save time for first lap
car.segment = 1;
car.lap = car.lap + 1;
@@ -177,7 +178,8 @@ if car.running == true
car.segment = 1;
car.lap = car.lap + 1;
- end
+ end
+ disp(car)
end
end
@@ -189,14 +191,19 @@ end
%% CONTROLLER
if car.running == true && car.automatic == false
- mult = 100;
- max = 55;
- div = 55;
- set_car_speed(car.num, mult * ((max - get_manual_speed(car.num)) / div));
+ mult_ = 100;
+ max_ = 55;
+ div_ = 55;
+ set_car_speed(car.num, mult_ * ((max_ - get_manual_speed(car.num)) / div_))
end
%% EXECUTE
if car.running == true && car.automatic == true
- set_car_speed(car.num, car.u);
+ disp(strjoin({num2str(car.num), num2str(car.u), num2str(car.position)}))
+ if not(boot.status)
+ set_car_speed(car.num, max(car.u, 16));
+ else
+ set_car_speed(car.num, car.u);
+ end
end
end
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m
index 5f89c57..8ebea57 100644
--- a/Kod/bilbana/yc4/do_gov.m
+++ b/Kod/bilbana/yc4/do_gov.m
@@ -1,11 +1,30 @@
function [ car ] = do_gov( car )
%UNTITLED Summary of this function goes here
% Detailed explanation goes here
-if car.new_lap
- % TODO calculate stuff
+if car.new_lap && car.lap > 1 % annars höjer den typ alltid första varvet
+ last_lap_time = car.lap_times(car.lap - 1);
+ time_diff = last_lap_time - car.ref_time; % diff >0 => car is too slow, go faster
+ car.constant = car.constant + (time_diff / car.ref_time) * 0.1;
elseif car.new_check_point && (car.segment == 5 || car.segment == 8)
- status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
- car.constant = car.constant + (status - 1) * 0.08;
- car.governs(length(car.governs) + 1) = car.constant;
+ if car.lap == 1
+ status = car.forecasts_naive(car.lap, car.segment-1)/car.ref_time;
+ else
+ status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
+ end
+ car.constant = car.constant + (status - 1) * 0.08;
+ car.governs(length(car.governs) + 1) = car.constant;
+ %{
+ if car.lap > 1 && (car.segment == 5 || car.segment == 8)
+ car.lap_now = toc(car.lap_tic);
+ norm_const = 1/(sum(car.percents(1:9)));
+ norm_list = car.percents * norm_const;
+ sum_percent = sum(norm_list(1:car.segment));
+ exp_time = car.ref_time * sum_percent;
+
+ status = car.lap_now/exp_time;
+ car.constant = car.constant + (status - 1) * 0.08;
+ car.governs(length(car.governs) + 1) = car.constant;
+ end
+ %}
end
diff --git a/Kod/bilbana/yc4/fit_percents.m b/Kod/bilbana/yc4/fit_percents.m
index ffdb9fc..7ccf0ba 100644
--- a/Kod/bilbana/yc4/fit_percents.m
+++ b/Kod/bilbana/yc4/fit_percents.m
@@ -8,4 +8,4 @@ for i = 1:length(percents)
new_p = old_p - (old_p + cur_p) / 2;
new_percents(i) = new_p;
end
-
+new_percents = new_percents * (1/sum(new_percents)) % normera
diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m
index 737dfac..5b6808b 100644
--- a/Kod/bilbana/yc4/get_aprox_v.m
+++ b/Kod/bilbana/yc4/get_aprox_v.m
@@ -1,4 +1,4 @@
-function [v] = get_aprox_v(cur_seg, lap, seg_times, track, seg_len)
+function [v] = get_aprox_v(cur_seg, car)
%GET_APROX_V Tillf�llig? Beh�vs f�r att testa get_position. Ger
%medelhastigheten f�r nuvarande segment p� f�rra varvet.
%{
@@ -6,18 +6,21 @@ cur_seg: Nuvarande segment
last_seg_times: 1x9 vektor med f�rra varvets segmenttider
%}
% seg_len = [];
-
+lap = car.lap;
if cur_seg > 9
cur_seg = cur_seg - 9;
end
-
+%% Kompensera för väldigt långsamt segment 1 första varvet
+if cur_seg == 1 && lap == 2
+ v = car.seg_len(1)/(1.5*car.seg_times(1,9));
+ return
+end
+%% Sätt v
while lap > 0
lap = lap - 1;
- if seg_times(lap, cur_seg) ~= 0
- v = seg_len(cur_seg) / seg_times(lap, cur_seg);
+ if car.seg_times(lap, cur_seg) ~= 0
+ v = car.seg_len(cur_seg) / car.seg_times(lap, cur_seg);
return
end
end
-disp('bara nollor?');
-
end
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index f589c29..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
@@ -37,8 +37,7 @@ display.shm_interp.data = [];
display.last_send = tic;
display.send_interval = 0.5;
-load('bilbana\files\Bana1.mat')
-load('bilbana\files\Bana2.mat')
+load('bilbana\files\Bana.mat')
car1 = struct;
car1.num = 1;
@@ -50,18 +49,18 @@ car1.segment = 1;
car1.lap = 0;
car1.lap_times = [];
car1.seg_times = [];
-car1.seg_constant_list = []; % TODO
car1.position = 0;
car1.pos_at = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57 19.60];
car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99];
-car1.percents = []; % TODO
+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.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
+%car1.approximation = [];
+car1.miss_probability = 0.05;
car1.constant = 0.1;
car1.stop = false;
car1.governs = [];
+car1.forecasts = [];
+car1.forecasts_naive = [];
car2 = struct;
car2.num = 2;
@@ -79,13 +78,11 @@ car2.seg_len = [2.53 0.52 1.87 2.70 1.40 1.70 4.03 3.08 2.19];
car2.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113];
car2.map = Bana2;
car2.miss_probability = 0.05;
-car2.seg_constant_list = []; % TODO
-car2.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
-car2.seg_constant = 1;
car2.constant = 0.1;
car2.stop = false;
car2.governs = [];
-
+car2.forecasts = [];
+car2.forecasts_naive = [];
boot1 = struct;
boot1.status = false;
@@ -127,64 +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
@@ -307,12 +288,10 @@ while 1
end
end
-
%% END OF RACE
disp(highToc);
disp(car1);
disp(car2);
-
terminate(1);
terminate(2);
generated by cgit v1.2.1 (git 2.18.0) at 2025-12-14 08:44:36 +0100