diff options
Diffstat (limited to 'Kod')
33 files changed, 287 insertions, 80 deletions
diff --git a/Kod/bilbana/yc4/display/clear_display.m b/Kod/bilbana/yc4/display/clear_display.m index 32fdac1..2d0d25f 100644 --- a/Kod/bilbana/yc4/display/clear_display.m +++ b/Kod/bilbana/yc4/display/clear_display.m @@ -1,3 +1,3 @@ function pkg = clear_display() - pkg = get_package('DL', []) + pkg = get_package('DL', []); end diff --git a/Kod/bilbana/yc4/display/continue_line.m b/Kod/bilbana/yc4/display/continue_line.m new file mode 100644 index 0000000..9734201 --- /dev/null +++ b/Kod/bilbana/yc4/display/continue_line.m @@ -0,0 +1,5 @@ +function pkg = continue_line(x2, y2) + arg = [get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('GW', arg) +end diff --git a/Kod/bilbana/yc4/display/define_flashing_area.m b/Kod/bilbana/yc4/display/define_flashing_area.m new file mode 100644 index 0000000..11d6cf3 --- /dev/null +++ b/Kod/bilbana/yc4/display/define_flashing_area.m @@ -0,0 +1,5 @@ +function pkg = define_flashing_area(x1, y1, x2, y2) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('QI', arg); +end diff --git a/Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m b/Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m new file mode 100644 index 0000000..eb13e90 --- /dev/null +++ b/Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m @@ -0,0 +1,5 @@ +function pkg = define_flashing_area_with_pattern(x1, y1, x2, y2, n1) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1]; + + pkg = get_package('QM', arg); +end diff --git a/Kod/bilbana/yc4/display/define_touch_key.m b/Kod/bilbana/yc4/display/define_touch_key.m new file mode 100644 index 0000000..14ee5ee --- /dev/null +++ b/Kod/bilbana/yc4/display/define_touch_key.m @@ -0,0 +1,7 @@ +function pkg = define_touch_key(x1, y1, x2, y2, down_code, up_code, just, text) + arg_location = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + arg_text = double(strjoin({just; text}, '')); + arg_null = 0; + + pkg = get_package('AT', [arg_location, down_code, up_code, arg_text, arg_null]); +end diff --git a/Kod/bilbana/yc4/display/define_touch_switch.m b/Kod/bilbana/yc4/display/define_touch_switch.m new file mode 100644 index 0000000..47d3cd9 --- /dev/null +++ b/Kod/bilbana/yc4/display/define_touch_switch.m @@ -0,0 +1,7 @@ +function pkg = define_touch_key(x1, y1, x2, y2, down_code, up_code, just, text) + arg_location = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + arg_text = double(strjoin({just; text}, '')); + arg_null = 0; + + pkg = get_package('AK', [arg_location, down_code, up_code, arg_text, arg_null]); +end diff --git a/Kod/bilbana/yc4/display/delete_area.m b/Kod/bilbana/yc4/display/delete_area.m new file mode 100644 index 0000000..44953b7 --- /dev/null +++ b/Kod/bilbana/yc4/display/delete_area.m @@ -0,0 +1,5 @@ +function pkg = delete_area(x1, y1, x2, y2) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('RL', arg); +end diff --git a/Kod/bilbana/yc4/display/draw_box.m b/Kod/bilbana/yc4/display/draw_box.m new file mode 100644 index 0000000..ef548a4 --- /dev/null +++ b/Kod/bilbana/yc4/display/draw_box.m @@ -0,0 +1,6 @@ +function pkg = draw_box(x1, y1, x2, y2, n1) +% rectangle with pattern filled and solid line around it + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1]; + + pkg = get_package('RO', arg); +end diff --git a/Kod/bilbana/yc4/display/draw_frame.m b/Kod/bilbana/yc4/display/draw_frame.m new file mode 100644 index 0000000..7b97adb --- /dev/null +++ b/Kod/bilbana/yc4/display/draw_frame.m @@ -0,0 +1,5 @@ +function pkg = draw_frame(x1, y1, x2, y2, n1) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('RR', arg); +end diff --git a/Kod/bilbana/yc4/display/draw_frame_box.m b/Kod/bilbana/yc4/display/draw_frame_box.m new file mode 100644 index 0000000..9b57c7c --- /dev/null +++ b/Kod/bilbana/yc4/display/draw_frame_box.m @@ -0,0 +1,5 @@ +function pkg = draw_frame_box(x1, y1, x2, y2, n1) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1]; + + pkg = get_package('RT', arg); +end diff --git a/Kod/bilbana/yc4/display/draw_point.m b/Kod/bilbana/yc4/display/draw_point.m new file mode 100644 index 0000000..74053d5 --- /dev/null +++ b/Kod/bilbana/yc4/display/draw_point.m @@ -0,0 +1,5 @@ +function pkg = draw_point(x1, y1) + arg = [get_bytes(x1), get_bytes(y1)]; + + pkg = get_package('GP', arg); +end diff --git a/Kod/bilbana/yc4/display/draw_rectangle.m b/Kod/bilbana/yc4/display/draw_rectangle.m new file mode 100644 index 0000000..9e92cad --- /dev/null +++ b/Kod/bilbana/yc4/display/draw_rectangle.m @@ -0,0 +1,5 @@ +function pkg = draw_rectangle(x1, y1, x2, y2) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('GR', arg); +end diff --git a/Kod/bilbana/yc4/display/fill_area.m b/Kod/bilbana/yc4/display/fill_area.m new file mode 100644 index 0000000..4d64463 --- /dev/null +++ b/Kod/bilbana/yc4/display/fill_area.m @@ -0,0 +1,5 @@ +function pkg = fill_area(x1, y1, x2, y2) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('RS', arg); +end diff --git a/Kod/bilbana/yc4/display/fill_area_with_pattern.m b/Kod/bilbana/yc4/display/fill_area_with_pattern.m new file mode 100644 index 0000000..4815f5b --- /dev/null +++ b/Kod/bilbana/yc4/display/fill_area_with_pattern.m @@ -0,0 +1,5 @@ +function pkg = fill_area_with_pattern(x1, y1, x2, y2, n1) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1]; + + pkg = get_package('RM', arg); +end diff --git a/Kod/bilbana/yc4/display/fill_display.m b/Kod/bilbana/yc4/display/fill_display.m new file mode 100644 index 0000000..e5fc1d2 --- /dev/null +++ b/Kod/bilbana/yc4/display/fill_display.m @@ -0,0 +1,3 @@ +function pkg = fill_display() + pkg = get_package('DS', []); +end diff --git a/Kod/bilbana/yc4/display/get_bytes.m b/Kod/bilbana/yc4/display/get_bytes.m new file mode 100644 index 0000000..87ef875 --- /dev/null +++ b/Kod/bilbana/yc4/display/get_bytes.m @@ -0,0 +1,3 @@ +function bytes = get_bytes(num) + bytes = [mod(num, 256), fix(num / 256)]; +end diff --git a/Kod/bilbana/yc4/display/invert_area.m b/Kod/bilbana/yc4/display/invert_area.m new file mode 100644 index 0000000..39db3c2 --- /dev/null +++ b/Kod/bilbana/yc4/display/invert_area.m @@ -0,0 +1,5 @@ +function pkg = invert_area(x1, y1, x2, y2) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('RI', arg); +end diff --git a/Kod/bilbana/yc4/display/invert_display.m b/Kod/bilbana/yc4/display/invert_display.m new file mode 100644 index 0000000..ab2ddad --- /dev/null +++ b/Kod/bilbana/yc4/display/invert_display.m @@ -0,0 +1,3 @@ +function pkg = invert_display() + pkg = get_package('DI', []); +end diff --git a/Kod/bilbana/yc4/display/put_text.m b/Kod/bilbana/yc4/display/put_text.m index 5b80192..22871e3 100644 --- a/Kod/bilbana/yc4/display/put_text.m +++ b/Kod/bilbana/yc4/display/put_text.m @@ -1,7 +1,7 @@ function [pkg] = put_text(x, y, justification, text) - code = double(strjoin({'Z', justification}, '')); + code = strjoin({'Z', justification}, ''); - arg1 = [x, 0, y, 0]; + arg1 = [mod(x, 256), x ./ 256, mod(y, 256), y ./ 256]; arg2 = text; arg3 = 0; diff --git a/Kod/bilbana/yc4/display/remove_flashing_area.m b/Kod/bilbana/yc4/display/remove_flashing_area.m new file mode 100644 index 0000000..701402b --- /dev/null +++ b/Kod/bilbana/yc4/display/remove_flashing_area.m @@ -0,0 +1,5 @@ +function pkg = remove_flashing_area(x1, y1, x2, y2) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('QL', arg); +end diff --git a/Kod/bilbana/yc4/display/restore_display_from_clipboard.m b/Kod/bilbana/yc4/display/restore_display_from_clipboard.m new file mode 100644 index 0000000..9542851 --- /dev/null +++ b/Kod/bilbana/yc4/display/restore_display_from_clipboard.m @@ -0,0 +1,3 @@ +function pkg = restore_display_from_clipboard() + pkg = get_package('CR', []); +end diff --git a/Kod/bilbana/yc4/display/restore_display_from_clipboard_to_point.m b/Kod/bilbana/yc4/display/restore_display_from_clipboard_to_point.m new file mode 100644 index 0000000..2c9e1aa --- /dev/null +++ b/Kod/bilbana/yc4/display/restore_display_from_clipboard_to_point.m @@ -0,0 +1,5 @@ +function pkg = restore_display_from_clipboard_to_point(x1, y1) + arg = [get_bytes(x1), get_bytes(y1)]; + + pkg = get_package('CK', arg); +end diff --git a/Kod/bilbana/yc4/display/save_area_to_clipboard.m b/Kod/bilbana/yc4/display/save_area_to_clipboard.m new file mode 100644 index 0000000..8098b06 --- /dev/null +++ b/Kod/bilbana/yc4/display/save_area_to_clipboard.m @@ -0,0 +1,5 @@ +function pkg = save_area_to_clipboard(x1, y1, x2, y2) + arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)]; + + pkg = get_package('CS', arg); +end diff --git a/Kod/bilbana/yc4/display/save_display_to_clipboard.m b/Kod/bilbana/yc4/display/save_display_to_clipboard.m new file mode 100644 index 0000000..f8cd0bd --- /dev/null +++ b/Kod/bilbana/yc4/display/save_display_to_clipboard.m @@ -0,0 +1,3 @@ +function pkg = save_display_to_clipboard() + pkg = get_package('CB', []); +end diff --git a/Kod/bilbana/yc4/display/set_display_visible.m b/Kod/bilbana/yc4/display/set_display_visible.m new file mode 100644 index 0000000..7b97264 --- /dev/null +++ b/Kod/bilbana/yc4/display/set_display_visible.m @@ -0,0 +1,8 @@ +function pkg = set_display_visible(visible) +% + if visible == true + pkg = get_package('DE', []); + else + pkg = get_package('DA', []); + end +end diff --git a/Kod/bilbana/yc4/display/set_drawing_mode.m b/Kod/bilbana/yc4/display/set_drawing_mode.m new file mode 100644 index 0000000..47c1490 --- /dev/null +++ b/Kod/bilbana/yc4/display/set_drawing_mode.m @@ -0,0 +1,8 @@ +function pkg = set_drawing_mode(n1) +% 1 = set +% 2 = delete (erase) +% 3 = invert (on -> off, off -> on for every pixel thats drawn over) + arg = [n1]; + + pkg = get_package('GV', arg); +end diff --git a/Kod/bilbana/yc4/display/set_flashing_time.m b/Kod/bilbana/yc4/display/set_flashing_time.m new file mode 100644 index 0000000..e4f056d --- /dev/null +++ b/Kod/bilbana/yc4/display/set_flashing_time.m @@ -0,0 +1,3 @@ +function pkg = set_flashing_time(n1) + pkg = get_package('QZ', [n1]); +end diff --git a/Kod/bilbana/yc4/display/set_line_pattern.m b/Kod/bilbana/yc4/display/set_line_pattern.m new file mode 100644 index 0000000..86c2261 --- /dev/null +++ b/Kod/bilbana/yc4/display/set_line_pattern.m @@ -0,0 +1,3 @@ +function pkg = set_line_pattern(n1) + pkg = get_package('GM', n1); +end diff --git a/Kod/bilbana/yc4/display/set_point_size.m b/Kod/bilbana/yc4/display/set_point_size.m new file mode 100644 index 0000000..f70e698 --- /dev/null +++ b/Kod/bilbana/yc4/display/set_point_size.m @@ -0,0 +1,6 @@ +function pkg = set_point_size(n1, n2) +% både linjer och punkter + arg = [n1, n2]; + + pkg = get_package('GZ', arg); +end diff --git a/Kod/bilbana/yc4/display/set_text_flashing.m b/Kod/bilbana/yc4/display/set_text_flashing.m new file mode 100644 index 0000000..00f683e --- /dev/null +++ b/Kod/bilbana/yc4/display/set_text_flashing.m @@ -0,0 +1,7 @@ +function pkg = set_text_flashing(n1) +%SET_TEXT_FLASHING Summary of this function goes here +% Detailed explanation goes here + +pkg = get_package('ZB', [n1]); +end + diff --git a/Kod/bilbana/yc4/display/set_text_font.m b/Kod/bilbana/yc4/display/set_text_font.m index 768d16b..78093c9 100644 --- a/Kod/bilbana/yc4/display/set_text_font.m +++ b/Kod/bilbana/yc4/display/set_text_font.m @@ -1,3 +1,3 @@ function pkg = set_text_font(font_num) - pkg = get_package('ZF', [font_num]) + pkg = get_package('ZF', [font_num]); end diff --git a/Kod/bilbana/yc4/display/set_touch_sound_response.m b/Kod/bilbana/yc4/display/set_touch_sound_response.m new file mode 100644 index 0000000..851eaf2 --- /dev/null +++ b/Kod/bilbana/yc4/display/set_touch_sound_response.m @@ -0,0 +1,7 @@ +function pkg = set_touch_sound_response(state) + if state == true + pkg = get_package('AS', [1]); + else + pkg = get_package('AS', [0]); + end +end diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 627152c..4a3d667 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -22,12 +22,16 @@ start_race(1) start_race(2) car1 = struct; +car1.running = false; +car1.automatic = true; car1.segment = 1; car1.lap = 0; car1.lap_times = []; car1.seg_times = []; car2 = struct; +car2.running = false; +car2.automatic = true; car2.segment = 1; car2.lap = 0; car2.lap_times = []; @@ -35,6 +39,32 @@ car2.seg_times = []; highToc = 0; +%% ASK ACTIVE CARS +disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej'); + +car1.response = input('Vill du köra bil 1? [N] ', 's'); +if car1.response == 'J' + car1.running = true; + car1.automatic = true; +elseif car1.response == 'M' + car1.running = true; + car1.automatic = false; +else + car1.running = false; +end + +car2.response = input('Vill du köra bil 2? [N] ', 's'); +if car2.response == 'J' + car2.running = true; + car2.automatic = true; +elseif car2.response == 'M' + car2.running = true; + car2.automatic = false; +else + car2.running = false; +end + + %% MAIN LOOP while 1 readTime = tic; @@ -48,87 +78,113 @@ while 1 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; + if car1.running == true + [car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1); end + if car2.running == true + [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2); + end + %% CHECK LAP AND CHECKPOINT (CAR 1) + if car1.running == true + 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; + end + 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; - 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); + if car2.running == true + 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; + end + end + + %% CALCULATE (CAR 1) + if car1.running == true && car1.automatic == true + 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); + end %% 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); + if car2.running == true && car2.automatic == true + 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); + end + %% CONTROLLER (CAR 1) + if car1.running == true && car1.automatic == false + % TODO + end + + %% CONTROLLER (CAR 2) + if car2.running == true && car2.automatic == false + % TODO + end + + %% EXECUTE - set_car_speed(1, car1.u); - set_car_speed(2, car2.u); - + if car1.running == true && car1.automatic == true + set_car_speed(1, car1.u); + end + if car2.running == true && car2.automatic == true + set_car_speed(2, car2.u); + end %% DISPLAY %% END OF LOOP @@ -160,5 +216,9 @@ 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 +if car1.running == true + graphs(car1.lap_times, 13, car1.seg_times, 1); +end +if car2.running == true + graphs(car2.lap_times, 13, car2.seg_times, 2); +end |