From e66efbbe8df2dd4e7de0a1e9bd129cf92e00f92f Mon Sep 17 00:00:00 2001
From: vikle012 <viktor.leek@liu.se>
Date: Wed, 11 Sep 2019 13:57:14 +0200
Subject: Initializes repo.

---
 Kod/bilbana/studentFunctions/car_controller.m     | 16 +++++++++
 Kod/bilbana/studentFunctions/init_car.m           | 25 ++++++++++++++
 Kod/bilbana/studentFunctions/plot_results.m       | 15 +++++++++
 Kod/bilbana/studentFunctions/run_simple_example.m | 41 +++++++++++++++++++++++
 Kod/bilbana/studentFunctions/update_control.m     | 16 +++++++++
 Kod/bilbana/studentFunctions/update_position.m    | 39 +++++++++++++++++++++
 6 files changed, 152 insertions(+)
 create mode 100644 Kod/bilbana/studentFunctions/car_controller.m
 create mode 100644 Kod/bilbana/studentFunctions/init_car.m
 create mode 100644 Kod/bilbana/studentFunctions/plot_results.m
 create mode 100644 Kod/bilbana/studentFunctions/run_simple_example.m
 create mode 100644 Kod/bilbana/studentFunctions/update_control.m
 create mode 100644 Kod/bilbana/studentFunctions/update_position.m

(limited to 'Kod/bilbana/studentFunctions')

diff --git a/Kod/bilbana/studentFunctions/car_controller.m b/Kod/bilbana/studentFunctions/car_controller.m
new file mode 100644
index 0000000..069e8f5
--- /dev/null
+++ b/Kod/bilbana/studentFunctions/car_controller.m
@@ -0,0 +1,16 @@
+function car = car_controller(car_in)
+
+car = car_in;
+
+% Read sensors
+[car, cp_passed] = update_position(car);
+
+if cp_passed
+    % Update speed
+    
+    new_control = car.control(end) + 0.5*(rand() - 0.5); % Temporary control policy
+    
+    car = update_control(new_control, car);
+end
+
+end
\ No newline at end of file
diff --git a/Kod/bilbana/studentFunctions/init_car.m b/Kod/bilbana/studentFunctions/init_car.m
new file mode 100644
index 0000000..8206206
--- /dev/null
+++ b/Kod/bilbana/studentFunctions/init_car.m
@@ -0,0 +1,25 @@
+function car = init_car(track_number)
+
+car = struct();
+
+% Car state
+car.state = 'intro';
+
+% Track number
+car.track_number = track_number;
+
+% Current track segment
+car.position = 0;
+
+% Current lap
+car.lap = 0;
+
+% Start race timer
+car.t0 = tic();
+
+% Control signal
+car.control = nan(1,1);
+car.control_log_time = nan(1,1);
+car.control_log_position = zeros(1,1);
+
+end
\ No newline at end of file
diff --git a/Kod/bilbana/studentFunctions/plot_results.m b/Kod/bilbana/studentFunctions/plot_results.m
new file mode 100644
index 0000000..34ea2e4
--- /dev/null
+++ b/Kod/bilbana/studentFunctions/plot_results.m
@@ -0,0 +1,15 @@
+% Plot the results
+figure(100)
+subplot(2,1,1)
+stairs(car.control_log_time, car.control, 'LineWidth', 2) % Gör en trappstegsplot
+xlabel('Time [s]')
+ylabel('Control signal [%]')
+title('Control signal trajectory')
+grid on
+
+subplot(2,1,2)
+stairs(car.control_log_time, car.control_log_position, 'r', 'LineWidth', 2)
+xlabel('Time [s]')
+ylabel('Car position [segment number]')
+title('Car position')
+grid on
diff --git a/Kod/bilbana/studentFunctions/run_simple_example.m b/Kod/bilbana/studentFunctions/run_simple_example.m
new file mode 100644
index 0000000..45794f0
--- /dev/null
+++ b/Kod/bilbana/studentFunctions/run_simple_example.m
@@ -0,0 +1,41 @@
+%% ---------------- Do not touch ---------------- %
+disp('Startar bilbanan. Avsluta med q')
+hf=figure('position',[0 0 eps eps],'menubar','none');
+% ----------------------------------------------- %
+%% User input
+track_number = 1;
+car = init_car(track_number); 
+
+%% Init race track
+initialize_counters(car.track_number)
+config_IOs
+start_race(car.track_number)
+
+%% Start cars
+start_control = 29; % 29 works for the white castrol car marked with number 82
+car = update_control(start_control, car);
+
+%% Running loop
+while 1
+    
+    % ---------------- Do not touch ---------------- %
+    % Check if user has pressed q
+    if strcmp(get(hf,'currentcharacter'),'q')
+        close(hf)
+        break
+    end
+    % force the event queue to flush
+    figure(hf)
+    drawnow
+    % ---------------------------------------------- %
+    
+    car = car_controller(car);
+    
+    pause(0.1) % Pause 0.1 s
+end
+
+terminate(1)
+terminate(2)
+
+% run file to plot results
+plot_results();
\ No newline at end of file
diff --git a/Kod/bilbana/studentFunctions/update_control.m b/Kod/bilbana/studentFunctions/update_control.m
new file mode 100644
index 0000000..ee6599c
--- /dev/null
+++ b/Kod/bilbana/studentFunctions/update_control.m
@@ -0,0 +1,16 @@
+function car = update_control(new_control_signal, car_in)
+
+% Return track struct
+car = car_in;
+
+% Update track struct
+car.control(end+1) = new_control_signal;
+car.control_log_time(end+1) = toc(car.t0);
+car.control_log_position(end+1) = car.position;
+
+% Update speed
+set_car_speed(car.track_number, car.control(end));
+
+end
+
+
diff --git a/Kod/bilbana/studentFunctions/update_position.m b/Kod/bilbana/studentFunctions/update_position.m
new file mode 100644
index 0000000..dfca55f
--- /dev/null
+++ b/Kod/bilbana/studentFunctions/update_position.m
@@ -0,0 +1,39 @@
+function [car, gateway_passed] = update_position(car_in)
+
+car = car_in;
+
+[lap_car, chk_pnt, time] = get_car_position(car.track_number);
+
+if lap_car == true
+    % New lap
+    
+    % Update position on track
+    car.position = 1;
+    
+    % Add lap to lap counter
+    car.lap = car.lap + 1;
+    
+    % Update gw passed
+    gateway_passed = true;
+    
+    % Make sound
+    beep;
+    
+elseif chk_pnt == true && car.position ~= 0
+    % CP passed
+    
+    % Update position
+    car.position = car.position + 1;
+    
+    % update gw passed
+    gateway_passed = true;
+    
+    % Make sound
+    beep;
+    
+else
+    gateway_passed = false;
+    
+end
+
+end
\ No newline at end of file
-- 
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