diff options
Diffstat (limited to 'Kod')
| -rw-r--r-- | Kod/bilbana/yc4/do_boot.m | 89 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/do_car.m | 2 | ||||
| -rw-r--r-- | Kod/bilbana/yc4/main.m | 47 |
3 files changed, 126 insertions, 12 deletions
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m new file mode 100644 index 0000000..645e100 --- /dev/null +++ b/Kod/bilbana/yc4/do_boot.m @@ -0,0 +1,89 @@ +function [car] = do_boot(car, boot_time) +%BOOT Summary of this function goes here +% Detailed explanation goes here +if car.running == true + [car.new_lap, car.new_check_point, car.time] = get_car_position(car.num); + %% 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 + car.seg_times(car.lap, car.segment) = toc(car.seg_tic); + car.seg_constant_list(car.lap, car.segment) = car.seg_constant; + end + car.segment = car.segment + 1; + car.seg_tic = tic; + if car.lap > 2 % S�kerhetsmarginal (B�r vara 1?) + disp(car) + [new_position, seg_plus] = ... + 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.seg_times(car.lap, car.segment - seg_plus - 1) = 0; + car.seg_constant_list(car.lap, car.segment - seg_plus - 1) = 0; + disp(car.seg_times(car.lap, :)) + disp(seg_plus) + end + %car.miss_time = uint64(0); + else + car.position = car.pos_at(car.segment); + %car.miss_time = uint64(0); + end + end + end + %% NEW LAP + if car.new_lap == true + car.lap_constants = gov_set(car.constant); + car.new_lap = false; %TODO remove + beep; + if car.lap == 0 + % dont save time for first lap + car.segment = 1; + car.lap = car.lap + 1; + car.seg_tic = tic; + car.lap_tic = tic; + else + % beep; + % Spara inte seg_time om missad givare + if car.segment == 9 + car.seg_times(car.lap, car.segment) = toc(car.seg_tic); + car.seg_constant_list(car.lap, car.segment) = car.seg_constant; + end + car.seg_tic = tic; + car.lap_times(car.lap) = toc(car.lap_tic); + car.lap_tic = tic; + car.position = 0; + + if car.lap == 1 && size(car.seg_times, 2) < 9 + disp('FEL: För få segment!!') + car.stopped = true; + other_car.stopped = true; + return + end + + display_data = [display_data, put_text(100, 16 + (16 * car.num), 'L', strjoin({num2str(car.lap), get_time_as_string(round(car.lap_times(car.lap) * 1000))}, ' '))]; + + car.segment = 1; + car.lap = car.lap + 1; + end + end + %% CALCULATE + if car.running == true && car.automatic == true + car.v = get_new_v(car.position, car.map); + car.seg_constant = get_seg_constant(car.position, car.lap_constants, car.num, car.pos_at); + car.u = get_new_u(car.v, car.seg_constant); + end + %% BEFORE FIRST LAP + if car.lap == 0 + t = toc(boot_time); + if t > 1 + car.constant = car.constant + 0.05; + boot_time = tic; + end + 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 08c25fe..96b328d 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -120,7 +120,7 @@ if car.running == true %% NEW LAP if car.new_lap == true - car.lap_constants = gov_set(get_car_constant(car.num)); + car.lap_constants = gov_set(car.constant); car.new_lap = false; %TODO remove beep; if car.lap == 0 diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index e5ac062..7b9a2b1 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -1,4 +1,5 @@ clear all; +display_active = false; %% INIT TRACK disp('Startar bilbanan. Avsluta med q.') @@ -17,12 +18,14 @@ global log_debug; log_debug = true; global log_verbose; log_verbose = false; - % INIT DISPLAY -addpath display/ClientServerApp/Release -cd display/ClientServerApp/Release -!startServer -cd ../../.. +if display_active + + addpath display/ClientServerApp/Release + cd display/ClientServerApp/Release + !startServer + cd ../../.. +end display = struct; display.data = [clear_display()]; @@ -57,6 +60,8 @@ car1.map = Bana1; car1.approximation = []; car1.miss_probability = 0.0; car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO +car1.constant = 0.5; +car1.boot = false; car2 = struct; car2.num = 2; @@ -76,6 +81,14 @@ car2.miss_probability = 0.1; car2.seg_constant_list = []; % TODO car2.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO car2.seg_constant = 1; +car2.constant = 0.5; +car2.boot = false; + +boot = struct; +boot.car1 = false; +boot.car2 = false; +boot.car1_time = 0; +boot.car2_time = 0; t = 0; highToc = 0; @@ -87,6 +100,8 @@ car1.response = input('Vill du köra bil 1? [N] ', 's'); if car1.response == 'J' car1.running = true; car1.automatic = true; + boot.car1 = true; + boot.car1_time = tic; elseif car1.response == 'M' car1.running = true; car1.automatic = false; @@ -99,6 +114,8 @@ car2.response = input('Vill du köra bil 2? [N] ', 's'); if car2.response == 'J' car2.running = true; car2.automatic = true; + boot.car2 = true; + boot.car2_time = tic; elseif car2.response == 'M' car2.running = true; car2.automatic = false; @@ -114,8 +131,7 @@ elseif not(isreal(ref_time)) ref_time = 13; end %} -ref_time = 13; - +ref_time = 13 %% MAIN LOOP while 1 readTime = tic; @@ -130,9 +146,18 @@ while 1 figure(hf) drawnow - - [car1, car1.stop, display.data] = do_car(car1, t, display.data); - [car2, car2.stop, display.data] = do_car(car2, t, display.data); + + %% CORE OF LOOP + if car1.boot + car1 = boot(car1, boot); + else + [car1, car1.stop, display.data] = do_car(car1, t, display.data); + end + if car2.boot + car2 = boot(car2, boot); + else + [car2, car2.stop, display.data] = do_car(car2, t, display.data); + end if car1.stop == true disp('stopped by car 1'); @@ -151,7 +176,7 @@ while 1 while 1 %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder % DISPLAY display.send_delay = tic; - if toc(display.last_send) > display.send_interval + if toc(display.last_send) > display.send_interval && display_active % queue control signal if car1.running && car1.automatic % display.data = [display.data, put_text(20, 16 + (16 * 1), 'L', num2str(car1.u))]; |