summaryrefslogtreecommitdiffstats
path: root/Kod
diff options
context:
space:
mode:
Diffstat (limited to 'Kod')
-rw-r--r--Kod/bilbana/yc4/get_car_constant.m9
-rw-r--r--Kod/bilbana/yc4/get_new_v.m5
-rw-r--r--Kod/bilbana/yc4/main_2.asv120
-rw-r--r--Kod/bilbana/yc4/main_2.m121
4 files changed, 252 insertions, 3 deletions
diff --git a/Kod/bilbana/yc4/get_car_constant.m b/Kod/bilbana/yc4/get_car_constant.m
index b2d61f0..7f3aafb 100644
--- a/Kod/bilbana/yc4/get_car_constant.m
+++ b/Kod/bilbana/yc4/get_car_constant.m
@@ -1,7 +1,12 @@
function [ car_constant ] = get_car_constant( in_pos, pos )
%GET_CAR_CONSTANT Summary of this function goes here
% Detailed explanation goes here
-
-
+ switch(in_pos)
+ case 1
+ car_constant = 1;
+ case 2
+ car_constant = 1.2;
+ end
+ return
end
diff --git a/Kod/bilbana/yc4/get_new_v.m b/Kod/bilbana/yc4/get_new_v.m
index 0286e0a..a0aa19e 100644
--- a/Kod/bilbana/yc4/get_new_v.m
+++ b/Kod/bilbana/yc4/get_new_v.m
@@ -1,7 +1,10 @@
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
+ v = [35, 25, 30, 30, 40, 50, 45, 50, 35];
-
+ new_v = v(old_v);
+
+ return
end
diff --git a/Kod/bilbana/yc4/main_2.asv b/Kod/bilbana/yc4/main_2.asv
new file mode 100644
index 0000000..24af4ce
--- /dev/null
+++ b/Kod/bilbana/yc4/main_2.asv
@@ -0,0 +1,120 @@
+%% INIT
+% TODO init display
+
+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);
+
+ disp(car1);
+ disp(car2);
+
+ %% CHECK LAP AND CHECKPOINT (CAR 1)
+ if car1.new_check_point == true
+ % beep;
+ car1.seg_times(car1.lap, car1.segment) = -1; % TODO
+ car1.segment = car.segment + 1;
+ elseif car1.new_lap == true
+ beep;
+ if car1.lap == 0
+ % dont save time for first lap
+ car1.segment = 1;
+ car1.lap = car1.lap + 1;
+ continue;
+ end
+ car1.seg_times(car1.lap, car1.segment) = -1; % TODO
+ car1.lap_times(car1.lap) = -1; % TODO
+ car1.segment = 1;
+ car1.lap = car1.lap + 1;
+ %disp('car 1');
+ %disp(car1);
+ end
+
+ %% CHECK LAP AND CHECKPOINT (CAR 2)
+ if car2.new_check_point == true
+ beep;
+ car2.seg_times(car2.lap, car2.segment) = -1; % TODO
+ car2.segment = car.segment + 1;
+ elseif car2.new_lap == true
+ beep;
+ if car2.lap == 0
+ % dont save time for first lap
+ car2.segment = 1;
+ car2.lap = car2.lap + 1;
+ continue;
+ end
+ car2.seg_times(car2.lap, car2.segment) = -1; % TODO
+ car2.lap_times(car2.lap) = -1; % TODO
+ car2.segment = 1;
+ car2.lap = car2.lap + 1;
+ %disp('car 2');
+ %disp(car2);
+ 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;
+end
+
+%% END OF PROGRAM
+disp(tocs);
+disp(car1);
+disp(car2);
+
+terminate(1);
+terminate(2);
+% TODO terminate display \ No newline at end of file
diff --git a/Kod/bilbana/yc4/main_2.m b/Kod/bilbana/yc4/main_2.m
new file mode 100644
index 0000000..97b809c
--- /dev/null
+++ b/Kod/bilbana/yc4/main_2.m
@@ -0,0 +1,121 @@
+%% INIT
+% TODO init display
+
+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')
+ beep;
+ 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
+ disp('car 1')
+ disp(car1.lap);
+ disp(car1.segment);
+ car1.seg_times(car1.lap, car1.segment) = -1; % TODO
+ car1.segment = car1.segment + 1;
+ elseif car1.new_lap == true
+ if car1.lap == 0
+ % dont save time for first lap
+ car1.segment = 1;
+ car1.lap = car1.lap + 1;
+ continue;
+ end
+ car1.seg_times(car1.lap, car1.segment) = -1; % TODO
+ car1.lap_times(car1.lap) = -1; % TODO
+ car1.segment = 1;
+ car1.lap = car1.lap + 1;
+ end
+
+ %% CHECK LAP AND CHECKPOINT (CAR 2)
+ if car2.new_check_point == true
+ disp('car 2')
+ disp(car2.lap);
+ disp(car2.segment);
+ car2.seg_times(car2.lap, car2.segment) = -1; % TODO
+ car2.segment = car2.segment + 1;
+ elseif car2.new_lap == true
+ beep;
+ if car2.lap == 0
+ % dont save time for first lap
+ car2.segment = 1;
+ car2.lap = car2.lap + 1;
+ continue;
+ end
+ car2.seg_times(car2.lap, car2.segment) = -1; % TODO
+ car2.lap_times(car2.lap) = -1; % TODO
+ car2.segment = 1;
+ car2.lap = car2.lap + 1;
+ %disp('car 2');
+ %disp(car2);
+ 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;
+end
+
+%% END OF PROGRAM
+disp(tocs);
+disp(car1);
+disp(car2);
+
+
+terminate(1);
+terminate(2);
+% TODO terminate display \ No newline at end of file
generated by cgit v1.2.1 (git 2.18.0) at 2025-12-14 06:55:00 +0100