From 206a04d0b9490d9ca092a15efbfc856c6916bfdf Mon Sep 17 00:00:00 2001 From: Albin Date: Sat, 16 Nov 2019 14:52:01 +0100 Subject: Seg_constant 'borde' funka #62 --- Kod/bilbana/yc4/do_car.m | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'Kod/bilbana/yc4/do_car.m') diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index ed8de89..d630ac5 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -110,7 +110,8 @@ if car.running == true %% NEW LAP if car.new_lap == true - car.new_lap = false; + lap_constants = gov_set(get_car_constant(car.num)); + car.new_lap = false; %TODO remove beep; if car.lap == 0 % dont save time for first lap @@ -136,10 +137,9 @@ end %% CALCULATE if car.running == true && car.automatic == true - car.car_constant = get_car_constant(car.num); car.v = get_new_v(car.position, car.map); - car.track_u_constant = get_track_u_constant(); - car.u = get_new_u(car.v, car.car_constant, car.track_u_constant); + seg_constant = get_seg_constant(car.position, lap_constants, car.num); + car.u = get_new_u(car.v, seg_constant, car.track_u_constant); end %% CONTROLLER -- cgit v1.2.1 From 4b90b0aceebafe19c975d8d049bd96f918eb9196 Mon Sep 17 00:00:00 2001 From: Albin Date: Sun, 17 Nov 2019 15:48:54 +0100 Subject: Fix #62 --- Kod/bilbana/yc4/do_car.m | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) (limited to 'Kod/bilbana/yc4/do_car.m') diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index d630ac5..bf2a767 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -8,8 +8,10 @@ car - En struct med data f car.automatic - Om bilen körs automatiskt eller inte car.segment - Bilens nuvarande segment car.lap - Bilens nuvarande varv - car.lap_times - Bilens sparade varvtider (1 x n matris) - car.seg_times - Bilens sparade segmentstier (n x m matris) + car.lap_times - Bilens sparade varvtider (1 x v matris) + car.seg_times - Bilens sparade segmentstier (v x 9 matris) + car.seg_constant_list = []; % TODO Sparar alla seg_constants som + använts (v x 9 matris) car.position - Bilens nuvarande placering på banan i meter från start/mål car.seg_len - Banans längd från start till givarna (1 x 9 matris) @@ -17,6 +19,9 @@ car - En struct med data f fil) car.miss_probability - Sannorlikheten för artificiellt introducerade missade givare + car.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO seg_constanst för + nuvarande varv. Skapas av gov_set() vid nytt varv + t - Längden (s) på nuvarande programcykel display_data - Buffer med den data som ska skickas till displayen vid nästa anrop @@ -110,7 +115,7 @@ if car.running == true %% NEW LAP if car.new_lap == true - lap_constants = gov_set(get_car_constant(car.num)); + car.lap_constants = gov_set(get_car_constant(car.num)); car.new_lap = false; %TODO remove beep; if car.lap == 0 @@ -138,8 +143,8 @@ end %% CALCULATE if car.running == true && car.automatic == true car.v = get_new_v(car.position, car.map); - seg_constant = get_seg_constant(car.position, lap_constants, car.num); - car.u = get_new_u(car.v, seg_constant, car.track_u_constant); + seg_constant = get_seg_constant(car.position, car.lap_constants, car.num); + car.u = get_new_u(car.v, seg_constant); end %% CONTROLLER -- cgit v1.2.1 From eec64e88fcac4ca49340c8a9582b5dd369c41eca Mon Sep 17 00:00:00 2001 From: Albin Date: Sun, 17 Nov 2019 16:52:15 +0100 Subject: =?UTF-8?q?Borde=20funka,=20mer=20test=20kr=C3=A4vs?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Kod/bilbana/yc4/do_car.m | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'Kod/bilbana/yc4/do_car.m') diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index bf2a767..a9b95fb 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -104,7 +104,12 @@ if car.running == true else car.position = new_position; car.segment = car.segment + seg_plus; - end + end + if seg_plus ~= 0 + car.seg_times(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.seg_len(car.segment); -- cgit v1.2.1 From 04622ee01550d947415306e40cab79db34b06b5c Mon Sep 17 00:00:00 2001 From: Albin Date: Sun, 17 Nov 2019 17:22:10 +0100 Subject: Fix #52 --- Kod/bilbana/yc4/do_car.m | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'Kod/bilbana/yc4/do_car.m') diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m index a9b95fb..2bddf67 100644 --- a/Kod/bilbana/yc4/do_car.m +++ b/Kod/bilbana/yc4/do_car.m @@ -131,7 +131,10 @@ if car.running == true car.lap_tic = tic; else % beep; - car.seg_times(car.lap, car.segment) = toc(car.seg_tic); + % Spara inte seg_time om missad givare + if car.segment == 9 + car.seg_times(car.lap, car.segment) = toc(car.seg_tic); + end car.seg_tic = tic; car.lap_times(car.lap) = toc(car.lap_tic); car.lap_tic = tic; -- cgit v1.2.1