17 files changed, 413 insertions, 64 deletions
diff --git a/Kod/bilbana/Graph/graphs.m b/Kod/bilbana/Graph/graphs.m
new file mode 100644
index 0000000..a4ebf11
--- /dev/null
+++ b/Kod/bilbana/Graph/graphs.m
@@ -0,0 +1,14 @@
+function [] = graphs(lap_times, ref_lap_time, seg_times, track)
+%{GRAPHS: Två grafer i samma figur. Varvtider och medeltid/segment
+%{   
+lap_times: vektor med alla varvtider, 
+ref_lap_time: Den varvtid som eftersträvas
+seg_times: matris med segmentstider från alla varv
+track: den bana som de andra argumenten gäller för
+%}
+figure(track);
+clf;
+lap_time_graph(lap_times, track, ref_lap_time);
+segment_time_graph(seg_times, track);
+end
+
diff --git a/Kod/bilbana/Graph/graphs_test.m b/Kod/bilbana/Graph/graphs_test.m
new file mode 100644
index 0000000..3a2a2e5
--- /dev/null
+++ b/Kod/bilbana/Graph/graphs_test.m
@@ -0,0 +1,11 @@
+%% Data needed
+car1.seg_times =   [3.9,1.1,2.2,1.8,1.4,3.9,1.5,3.4,1.4;
+                    4.2,1.1,2.2,1.8,1.4,3.4,1.5,3.4,1.4;
+                    3.2,1.1,2.2,1.8,1.4,3.2,1.5,3.4,1.4;
+                    4.0,1.4,2.2,1.8,1.4,3.4,1.5,3.4,1.4;
+                    4.0,1.1,2.2,1.8,1.4,3.6,1.5,3.4,1.4;
+                    4.1,1.1,2.2,1.8,1.4,3.8,1.5,3.4,1.4];
+car1.lap_times = [14.1,13.8,14.15,13.9,14.1,14];
+ref_lap_time = 14;
+%% Actual test
+graphs(car1.lap_times,ref_lap_time,car1.seg_times,1)
+\ No newline at end of file
diff --git a/Kod/bilbana/Graph/lap_time_graph.m b/Kod/bilbana/Graph/lap_time_graph.m
new file mode 100644
index 0000000..8d54c6a
--- /dev/null
+++ b/Kod/bilbana/Graph/lap_time_graph.m
@@ -0,0 +1,52 @@
+function [outputArg1,outputArg2] = lap_time_graph(lap_times, track, ref_lap_time)
+%LAP_TIME_GRAPH En graf som visar varvtider där referenstiden och maximalt 
+%tillåtna avvikelser är utmärkta. Figuren inkluderar också standardavvikelsen
+%%
+subplot(20,1,1:8);
+%% Raka streck
+ref_lap_time_vector = ref_lap_time*ones(1,length(lap_times));
+
+Min_c = ref_lap_time-0.5;
+Max_c = ref_lap_time+0.5;
+InD_c = ref_lap_time-1;
+InU_c = ref_lap_time+1;
+
+Min = Min_c*ones(1,length(lap_times));
+Max = Max_c*ones(1,length(lap_times));
+InU = InU_c*ones(1,length(lap_times));
+InD = InD_c*ones(1,length(lap_times));
+%% Varvtider
+plot1 = stairs(lap_times);
+plot1.Marker = 'o';
+plot1.MarkerFaceColor = 'k';
+plot1.LineStyle = 'none';
+hold on
+%% Referenstid
+plot2 = stairs(ref_lap_time_vector);
+plot2.LineWidth = 2;
+plot2.Color = 'k';
+%% Tillåten avvikelse
+plotMax = stairs(Max);
+plotMin = stairs(Min);
+plotMax.Color = 'k';
+plotMin.Color = 'k';
+%% Osynliga hjälpstreck
+plotInU = stairs(InU);
+plotInD = stairs(InD);
+plotInU.LineStyle = 'none';
+plotInD.LineStyle = 'none';
+
+hold off
+%% Standardavvkielse
+sigma = std(lap_times);
+sigma = round(sigma, 2);
+sig_str = string(sigma);
+%% Text
+xlabel('Varv');
+ylabel('Tid [s]');
+Tit = join(['Varvtider bana',string(track)]);
+title(Tit); 
+txt = join(['Standardavvikelse:',sig_str, 's/varv']);
+annotation('textbox',[.1 0.5 .5 .05],'String',txt,'EdgeColor','none')
+end
+
diff --git a/Kod/bilbana/Graph/segment_time_graph.m b/Kod/bilbana/Graph/segment_time_graph.m
new file mode 100644
index 0000000..602938b
--- /dev/null
+++ b/Kod/bilbana/Graph/segment_time_graph.m
@@ -0,0 +1,15 @@
+function [] = segment_time_graph(seg_time, track)
+%SEGMENT_TIME_GRAPH Snittid för varje segment.
+seg_time_size = size(seg_time);
+avr_seg_time = mean(seg_time(1:(seg_time_size(1) - 1), 1:(seg_time_size(2))));
+subplot(20, 1, 13:20);
+
+Plot = bar(avr_seg_time);
+%Plot.Marker = 'o';
+Plot.FaceColor = 'k';
+xlabel('Segment');
+ylabel('Tid [s]');
+tit = join(['Medeltid/segment bana',string(track)]);
+title(tit); 
+end
+
diff --git a/Kod/bilbana/yc4/display/clear_display.m b/Kod/bilbana/yc4/display/clear_display.m
new file mode 100644
index 0000000..32fdac1
--- /dev/null
+++ b/Kod/bilbana/yc4/display/clear_display.m
@@ -0,0 +1,3 @@
+function pkg = clear_display()
+	pkg = get_package('DL', [])
+end
diff --git a/Kod/bilbana/yc4/display/draw_single_line.m b/Kod/bilbana/yc4/display/draw_single_line.m
new file mode 100644
index 0000000..ca13293
--- /dev/null
+++ b/Kod/bilbana/yc4/display/draw_single_line.m
@@ -0,0 +1,4 @@
+function pkg = draw_single_line(x1, y1, x2, y2)
+	arg = [mod(x1, 255), fix(x1 / 255), y1, 0, mod(x2, 255), fix(x2 / 255), y2, 0];
+	pkg = get_package('GD', arg);
+end
diff --git a/Kod/bilbana/yc4/display/get_package.m b/Kod/bilbana/yc4/display/get_package.m
new file mode 100644
index 0000000..7c3a01e
--- /dev/null
+++ b/Kod/bilbana/yc4/display/get_package.m
@@ -0,0 +1,10 @@
+function [pkg] = get_package(code, args)
+	DC1 = 17;
+	ESC = 27;
+
+	data = [ESC, double(code), args];
+	len = length(data);
+	initStr = [DC1, len, data];
+	bcc = mod(sum(initStr), 256);
+	pkg = [initStr, bcc];
+end
diff --git a/Kod/bilbana/yc4/display/put_text.m b/Kod/bilbana/yc4/display/put_text.m
new file mode 100644
index 0000000..5b80192
--- /dev/null
+++ b/Kod/bilbana/yc4/display/put_text.m
@@ -0,0 +1,9 @@
+function [pkg] = put_text(x, y, justification, text)
+	code = double(strjoin({'Z', justification}, ''));
+
+	arg1 = [x, 0, y, 0];
+	arg2 = text;
+	arg3 = 0;
+
+	pkg = get_package(code, [arg1 double(arg2) arg3]);
+end
diff --git a/Kod/bilbana/yc4/display/send_data_to_display.m b/Kod/bilbana/yc4/display/send_data_to_display.m
new file mode 100644
index 0000000..c5d70c7
--- /dev/null
+++ b/Kod/bilbana/yc4/display/send_data_to_display.m
@@ -0,0 +1,27 @@
+function [] = send_data_to_display()
+%SEND_DATA_TO_DISPLAY sends available data to display if last send was
+%                     more than 0.5 seconds ago.
+    persistent last_send;
+    global display_data;
+    
+    if isempty(display_data)
+        return
+    end
+    % disp(last_send);
+    % disp(clock);
+    if isempty(last_send)  % first send
+        %% SEND DATA
+        % disp('sending data');
+        % disp(display_data)
+        matlabclient(1, display_data{1});
+        last_send = clock;
+        display_data(1) = [];
+    elseif (etime(clock, last_send) >= 0.5)
+        %% SEND DATA
+        % disp('sending data');
+        % disp(display_data)
+        matlabclient(1, display_data{1});
+        last_send = clock;
+        display_data(1) = [];
+    end
+end
diff --git a/Kod/bilbana/yc4/display/set_text_font.m b/Kod/bilbana/yc4/display/set_text_font.m
new file mode 100644
index 0000000..768d16b
--- /dev/null
+++ b/Kod/bilbana/yc4/display/set_text_font.m
@@ -0,0 +1,3 @@
+function pkg = set_text_font(font_num)
+	pkg = get_package('ZF', [font_num])
+end
diff --git a/Kod/bilbana/yc4/get_car_constant.m b/Kod/bilbana/yc4/get_car_constant.m
index b2d61f0..eb3bd22 100644
--- a/Kod/bilbana/yc4/get_car_constant.m
+++ b/Kod/bilbana/yc4/get_car_constant.m
@@ -1,7 +1,21 @@
 function [ car_constant ] = get_car_constant( in_pos, pos )
 %GET_CAR_CONSTANT Summary of this function goes here
 %   Detailed explanation goes here
-    
 
+%{
+GET_CAR_CONSTANT:
+car_constant: Påverkar new_u så att new_u tillsammans med track_u_constant motsvarar den hastighet som
+anges av new_v. car_constant ändras endast vid ny indata, vilket innebär att den är konstant under resterande
+cykler fram tills nästa givare passeras. Genom att jämföra positionen som fås av givarna med indatan kan programmet
+räkna ut felmarginalen som har uppstått och kalibrera car_constant new_u kan justeras med större
+precision.
+%}
+
+switch(in_pos)
+    case 1
+        car_constant = 1;
+    case 2
+        car_constant = 1.2; 
+end
 end
 
diff --git a/Kod/bilbana/yc4/get_new_u.m b/Kod/bilbana/yc4/get_new_u.m
index 39662b5..ee624fe 100644
--- a/Kod/bilbana/yc4/get_new_u.m
+++ b/Kod/bilbana/yc4/get_new_u.m
@@ -2,6 +2,13 @@ function [ new_u ] = get_new_u( new_v, car_constant, track_u_constant )
 %GET_NEW_U Summary of this function goes here
 %   Detailed explanation goes here
 
-
+%{
+GET_NEW_U: 
+new_u: Den spänning som ska appliceras beroende på vilken hastighet new_v anger. Ett högre new_v innebär
+ett högre new_u. De andra parametrarna som påverkar new_u är car_constant och track_u_constant, desto högre
+dessa värden dessa antar desto högre värde antar också new_u. new_u är programmets sista output, dess värde
+0 till 127 är det gaspådrag som appliceras på bilen.
+%}
+new_u = new_v*car_constant*track_u_constant;
 end
 
diff --git a/Kod/bilbana/yc4/get_new_v.m b/Kod/bilbana/yc4/get_new_v.m
index 0286e0a..26bf175 100644
--- a/Kod/bilbana/yc4/get_new_v.m
+++ b/Kod/bilbana/yc4/get_new_v.m
@@ -1,7 +1,21 @@
 function [ new_v ] = get_new_v( old_v, speed_constant, target_diff, car_position_diff, agressiveness )
-%GET_NEW_V Summary of this function goes here
-%   Detailed explanation goes here
-    
+%GET_NEW_V Hastigheten som bilen ska få nästa cykel.
+%{
+Tar förra cykelns hastighet (old_ v) och lägger till eller drar
+av beroende på hur långt ifrån målet bilarna ligger (target_diff) och, 
+om gemensam målgång är aktiverad, hur långt ifrån varandra bilarna är 
+(car_position_diff). Beror också på agressiveness; högre agressiveness ger 
+större skillnad mellan new_v och old_v medan ett lågt värde gör att new_v 
+inte ändras särskilt mycket. new_v används sedan för att sätta new_u. 
+Högre new_v ger högre new_u och lägre new_v ger lägre_u. 
+%}
 
+%{
+GET_NEW_V:
+new_v: Den hastighet som bilen ska få nästa cykel. 
+%}
+
+v = [35, 25, 30, 30, 40, 50, 40, 50, 35];
+new_v = v(old_v);
 end
 
diff --git a/Kod/bilbana/yc4/get_time_as_string.m b/Kod/bilbana/yc4/get_time_as_string.m
new file mode 100644
index 0000000..24b6bc5
--- /dev/null
+++ b/Kod/bilbana/yc4/get_time_as_string.m
@@ -0,0 +1,10 @@
+function num_as_str = get_time_as_string(millis)
+%GET_TIME_AS_STRING Number of milliseconds, formatted mm:ss.s and rounded
+%   Detailed explanation goes here
+minutes = num2str(fix(millis / (1000*60)));
+seconds = mod(millis, 1000*60);
+seconds_str = sprintf('%02d', fix(seconds / 1000));
+rest_str = num2str(round(mod(seconds, 1000), -2) / 100);
+num_as_str = strjoin({minutes, ':', seconds_str, '.', rest_str}, '');
+end
+
diff --git a/Kod/bilbana/yc4/get_track_u_constant.m b/Kod/bilbana/yc4/get_track_u_constant.m
index 3201f1b..50db463 100644
--- a/Kod/bilbana/yc4/get_track_u_constant.m
+++ b/Kod/bilbana/yc4/get_track_u_constant.m
@@ -1,7 +1,6 @@
 function [ track_u_constant ] = get_track_u_constant( position )
 %GET_TRACK_U_CONSTANT Summary of this function goes here
 %   Detailed explanation goes here
-
-
+track_u_constant = 1;
 end
 
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
new file mode 100644
index 0000000..3bdf697
--- /dev/null
+++ b/Kod/bilbana/yc4/main.m
@@ -0,0 +1,157 @@
+%% INIT
+% INIT DISPLAY
+addpath display/ClientServerApp/Release
+cd display/ClientServerApp/Release
+!startServer
+cd ../../..
+
+global display_data;
+display_data = {};
+display_data = {display_data clear_display()};
+pause(1);
+
+disp('Startar bilbanan. Avsluta med q.')
+hf=figure('position',[0 0 eps eps],'menubar','none');
+
+initialize_counters(1)
+initialize_counters(2)
+
+config_IOs
+
+start_race(1)
+start_race(2)
+
+car1 = struct;
+car1.segment = 1;
+car1.lap = 0;
+car1.lap_times = [];
+car1.seg_times = [];
+
+car2 = struct;
+car2.segment = 1;
+car2.lap = 0;
+car2.lap_times = [];
+car2.seg_times = [];
+
+tocs = [];
+
+%% MAIN LOOP
+while 1
+    tic;
+    %% PRE-LOOP
+    if strcmp(get(hf,'currentcharacter'),'q')
+        close(hf)
+        break
+    end
+    
+    figure(hf)
+    drawnow
+    
+    %% READ
+    [car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
+    [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
+    
+    %% CHECK LAP AND CHECKPOINT (CAR 1)
+    if car1.new_check_point == true
+        % beep;
+        if car1.lap ~= 0
+            car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
+        end
+        car1.segment = car1.segment + 1;
+        car1.seg_tic = tic;
+    end
+    if car1.new_lap == true
+        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
+        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;
+
+        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.seg_times(car1.lap, 1) = 0;
+    end
+    
+    %% CHECK LAP AND CHECKPOINT (CAR 2)
+    if car2.new_check_point == true
+        % beep;
+        if car2.lap ~= 0
+            car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
+        end
+        car2.segment = car2.segment + 1;
+        car2.seg_tic = tic;
+    end
+    if car2.new_lap == true
+        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;
+            disp('continuing');
+            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;
+
+        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.seg_times(car2.lap, 1) = 0;
+    end
+    
+    %% CALCULATE (CAR 1)
+    car1.car_constant = get_car_constant(1);
+    car1.v = get_new_v(car1.segment);
+    car1.track_u_constant = get_track_u_constant();
+    car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant);
+    
+    %% CALCULATE (CAR 2)
+    car2.car_constant = get_car_constant(2);
+    car2.v = get_new_v(car2.segment);
+    car2.track_u_constant = get_track_u_constant();
+    car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant);
+    
+    %% EXECUTE
+    set_car_speed(1, car1.u);
+    set_car_speed(2, car2.u);
+    
+    %% DISPLAY
+    
+    %% END OF LOOP
+    pause(0.1)
+    tocs(end + 1) = toc;
+    send_data_to_display();
+end
+ 
+%% END OF PROGRAM
+disp(tocs);
+disp(car1);
+disp(car2);
+
+terminate(1);
+terminate(2);
+
+matlabclient(3);
+
+%% DISPLAY GRAPHS
+
+graphs(car1.lap_times, 13, car1.seg_times, 1);
+graphs(car2.lap_times, 13, car2.seg_times, 2);
+\ No newline at end of file
diff --git a/Kod/display/display_exempel.m b/Kod/display/display_exempel.m
index c920087..5ac7cb0 100644
--- a/Kod/display/display_exempel.m
+++ b/Kod/display/display_exempel.m
@@ -10,24 +10,24 @@ cd ClientServerApp\Release
 !startServer
 cd ../..
 %% Diagonal linje
-DC1 = 17;
-ESC = 27;
-Code = 'GD';
-
-% x1, y1, x2, y2, (320 x 240 pixlar)
-% minst signifikanta bitar till vänster
-% mest signifikanta bitar till höger
-arg = [0, 0, 0, 0, 63, 1, 239, 0];
-
-% Save the 'small package' as a string
-data = [ESC, double(Code), arg];
-len = length(data);
-initStr = [DC1, len, data];
-bcc = mod(sum(initStr), 256);
-str = [initStr, bcc];
-
-% Skriv
-matlabclient(1, str')
+% DC1 = 17;
+% ESC = 27;
+% Code = 'GD';
+% 
+% % x1, y1, x2, y2, (320 x 240 pixlar)
+% % minst signifikanta bitar till vänster
+% % mest signifikanta bitar till höger
+% arg = [0, 0, 0, 0, 63, 1, 239, 0];
+% 
+% % Save the 'small package' as a string
+% data = [ESC, double(Code), arg];
+% len = length(data);
+% initStr = [DC1, len, data];
+% bcc = mod(sum(initStr), 256);
+% str = [initStr, bcc];
+% 
+% % Skriv
+% matlabclient(1, str')
 
 %% Rita en rektangel som är fylld med mönster
 DC1 = 17;
@@ -53,30 +53,30 @@ str = [initStr, bcc];
 matlabclient(1, str')
 
 %% Skriv en Test-sträng
-DC1 = 17;
-ESC = 27;
-Code = double('ZL');
-
-% x1, y1, (320 x 240 pixlar)
-% minst signifikanta bitar till vänster
-% mest signifikanta bitar till höger
-arg1 = [117, 0, 32, 0];
-
-% Textsträng
-%arg2 = 'Test';
-
-arg2 = 'DISPLAY!!!!!';
-
-% Null
-arg3 = 0;
-
-
-% Save the 'small package' as a string
-data = [ESC, double(Code), arg1, double(arg2), arg3];
-len = length(data);
-initStr = [DC1, len, data];
-bcc = mod(sum(initStr), 256);
-str = [initStr, bcc];
+% DC1 = 17;
+% ESC = 27;
+% Code = double('ZL');
+% 
+% % x1, y1, (320 x 240 pixlar)
+% % minst signifikanta bitar till vänster
+% % mest signifikanta bitar till höger
+% arg1 = [117, 0, 32, 0];
+% 
+% % Textsträng
+% %arg2 = 'Test';
+% 
+% arg2 = 'DISPLAY!!!!!';
+% 
+% % Null
+% arg3 = 0;
+% 
+% 
+% % Save the 'small package' as a string
+% data = [ESC, double(Code), arg1, double(arg2), arg3];
+% len = length(data);
+% initStr = [DC1, len, data];
+% bcc = mod(sum(initStr), 256);
+% str = [initStr, bcc];
 
 % Skriv
 matlabclient(1, str')
@@ -142,20 +142,20 @@ matlabclient(1, str')
 %fwrite(lcd, str)
 
 %% Radera Displayen
-DC1 = 17;
-ESC = 27;
-Code = 'DL';
-
-% Save the 'small package' as a string
-data = [ESC, double(Code)];
-len = length(data);
-initStr = [DC1, len, data];
-bcc = mod(sum(initStr), 256);
-str = [initStr, bcc];
-
-% Skriv
-matlabclient(1, str')
-%fwrite(lcd, str)
+% DC1 = 17;
+% ESC = 27;
+% Code = 'DL';
+% 
+% % Save the 'small package' as a string
+% data = [ESC, double(Code)];
+% len = length(data);
+% initStr = [DC1, len, data];
+% bcc = mod(sum(initStr), 256);
+% str = [initStr, bcc];
+% 
+% % Skriv
+% matlabclient(1, str')
+% %fwrite(lcd, str)
 
 %% Avsluta kommunikation med display
-matlabclient(3);
-\ No newline at end of file
+matlabclient(3);