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-rw-r--r--Kod/bilbana/yc4/get_aprox_v.m21
-rw-r--r--Kod/bilbana/yc4/get_new_v.m21
-rw-r--r--Kod/bilbana/yc4/main.m98
3 files changed, 50 insertions, 90 deletions
diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m
index 64fa821..d9c4644 100644
--- a/Kod/bilbana/yc4/get_aprox_v.m
+++ b/Kod/bilbana/yc4/get_aprox_v.m
@@ -1,12 +1,14 @@
-function [v] = get_aprox_v(cur_seg, lap, seg_times)
-%GET_APROX_V Tillfällig? Behövs för att testa get_position. Ger
-%medelhastigheten för nuvarande segment på förra varvet.
+function [v] = get_aprox_v(cur_seg, lap, seg_times, track)
+%GET_APROX_V Tillf�llig? Beh�vs f�r att testa get_position. Ger
+%medelhastigheten f�r nuvarande segment p� f�rra varvet.
%{
cur_seg: Nuvarande segment
-last_seg_times: 1x9 vektor med förra varvets segmenttider
+last_seg_times: 1x9 vektor med f�rra varvets segmenttider
%}
seg_len1 = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99];
-% seg_len2 = [2.53 0.53 1.87 2.68 1.24 1.81 4.03 3.09 2.19];
+seg_len2 = [2.53 0.53 1.87 2.68 1.24 1.81 4.03 3.09 2.19];
+
+seg_len = (track == 1 : seg_len1 : seg_len2);
if cur_seg > 9
cur_seg = cur_seg - 9;
@@ -15,17 +17,10 @@ end
while lap > 0
lap = lap - 1;
if seg_times(lap, cur_seg) ~= 0
- v = seg_len1(cur_seg)/seg_times(lap, cur_seg);
+ v = seg_len(cur_seg)/seg_times(lap, cur_seg);
return
end
end
disp('bara nollor?');
-% switch(track)
-% case 1
-% v = seg_len1(cur_seg)/last_seg_times(cur_seg);
-% case 2
-% v = seg_len2(cur_seg)/last_seg_times(cur_seg);
-% end
end
-
diff --git a/Kod/bilbana/yc4/get_new_v.m b/Kod/bilbana/yc4/get_new_v.m
index 273be4d..e722326 100644
--- a/Kod/bilbana/yc4/get_new_v.m
+++ b/Kod/bilbana/yc4/get_new_v.m
@@ -1,20 +1,21 @@
-function [ new_v ] = get_new_v( old_v, speed_constant, target_diff, car_position_diff, agressiveness )
+function [ new_v ] = get_new_v( position, list)
%GET_NEW_V Hastigheten som bilen ska få nästa cykel.
%{
Utgår ifrån position och ger motsvarande hårdkodade värde på v för
nuvarande sub_segment.
%}
-position = old_v*100; %temp input för position
-list = speed_constant; %temp input för listan Bana1
+position = position*100; %temp input för position
+
+
+
for i = 1:length(list)
- if position > 1960
- new_v = list(length(list),4);
-
- elseif list(i,1) > position
+ if list(i,1) > position
new_v = list((i-1),4);
break
- end
-
-end
+ elseif i == length(list)
+ new_v = list(80,4);
+ break
+ end
end
+
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 221caea..66e8db3 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -16,12 +16,14 @@ hf=figure('position',[0 0 eps eps],'menubar','none');
initialize_counters(1)
initialize_counters(2)
+
config_IOs
load('bilbana\files\Bana1.mat')
+load('bilbana\files\Bana2.mat')
start_race(1)
-% start_race(2)
+start_race(2)
car1 = struct;
car1.running = false;
@@ -36,7 +38,7 @@ car1.approximation = [];
car1.miss_probability = 0.1;
%car1.miss_time = uint64(0);
-%{
+
car2 = struct;
car2.running = false;
car2.automatic = true;
@@ -46,7 +48,7 @@ car2.lap_times = [];
car2.seg_times = [];
car2.position = 0;
car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
-%}
+
highToc = 0;
@@ -64,7 +66,7 @@ else
car1.running = false;
end
-%{
+
car2.response = input('Vill du köra bil 2? [N] ', 's');
if car2.response == 'J'
car2.running = true;
@@ -75,7 +77,7 @@ elseif car2.response == 'M'
else
car2.running = false;
end
-%}
+
%% MAIN LOOP
while 1
@@ -88,28 +90,29 @@ while 1
figure(hf)
drawnow
+ % disp(car1);
%% READ
if car1.running == true
[car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
if car1.new_check_point == true && rand < car1.miss_probability && car1.lap >= 4
- disp('Hoppar över givare');
+ disp('Hoppar �ver givare');
car1.new_check_point = false;
beep;
end
end
- %{
+
if car2.running == true
[car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
- end
- %}
+ end
+
%% CHECK LAP AND CHECKPOINT (CAR 1)
if car1.running == true
%% CALC POSITION (CAR 1)
if car1.lap > 1
last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9);
- aprox_v = get_aprox_v(car1.segment + detect_missed( car1.position, car1.segment, 1), car1.lap, car1.seg_times);
+ aprox_v = get_aprox_v(car1.segment + detect_missed( car1.position, car1.segment, 1), car1.lap, car1.seg_times, 1);
car1.position = get_position(aprox_v, car1.position, t);
if detect_missed( car1.position, car1.segment, 1)
disp('Miss?');
@@ -127,12 +130,12 @@ while 1
end
car1.segment = car1.segment + 1;
car1.seg_tic = tic;
- if car1.lap > 2 % Säkerhetsmarginal (Bör vara 1?)
+ if car1.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
disp(car1);
[new_position, seg_plus] = ...
choose_position(car1.position, car1.segment, 1);
if seg_plus ~= 0 && car1.segment == 1
- disp('Hoppar över missad givare 1/2');
+ disp('Hoppar �ver missad givare 1/2');
else
car1.position = new_position;
car1.segment = car1.segment + seg_plus;
@@ -168,49 +171,11 @@ while 1
end
end
- %{
+
+
%% CHECK LAP AND CHECKPOINT (CAR 2)
- if car2.running == true
- %% CALC POSITION (CAR 2)
- if car2.lap ~= 0
- if car2.lap > 1
- last_seg_times1 = car2.seg_times(car2.lap - 1, 1:9);
- aprox_v = get_aprox_v(car2.segment, last_seg_times2); %TODO ??
- car2.position = get_position(aprox_v, car2.position, delta_t);
- end
- end
- 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;
- car2.position = car2.seg_len(car2.segment);
- 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;
- 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;
- car2.position = 0;
-
- display_data = {display_data, put_text(100, 32, '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
- %}
+ % TODO copy from car1
+
%% CALCULATE (CAR 1)
if car1.running == true && car1.automatic == true
@@ -220,7 +185,7 @@ while 1
car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant);
end
- %{
+
%% CALCULATE (CAR 2)
if car2.running == true && car2.automatic == true
car2.car_constant = get_car_constant(2);
@@ -228,7 +193,7 @@ while 1
car2.track_u_constant = get_track_u_constant();
car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant);
end
- %}
+
% TEMP VARIABLES FOR MANUAL CONTROL
mult = 100;
@@ -240,23 +205,23 @@ while 1
set_car_speed(1, mult * ((max - get_manual_speed(1)) / div));
end
- %{
+
%% CONTROLLER (CAR 2)
if car2.running == true && car2.automatic == false
- set_car_speed(2, _mult * ((_max - get_manual_speed(2)) / _div));
+ set_car_speed(2, mult * ((max - get_manual_speed(2)) / div));
end
- %}
+
%% EXECUTE
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
- %}
+ end
+
%% DISPLAY
@@ -281,10 +246,10 @@ end
%% END OF PROGRAM
disp(highToc);
disp(car1);
-% disp(car2);
+disp(car2);
terminate(1);
-% terminate(2);
+terminate(2);
matlabclient(3);
@@ -294,8 +259,7 @@ if car1.running == true
graphs(car1.lap_times, 13.00, car1.seg_times, 1);
end
-%{
+
if car2.running == true
graphs(car2.lap_times, 13, car2.seg_times, 2);
-end
-%}
+end \ No newline at end of file
generated by cgit v1.2.1 (git 2.18.0) at 2025-12-15 00:14:08 +0100