From 9b02850daa38eb209345882396f0fbbca7f0baab Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Thu, 28 Nov 2019 20:54:05 +0100
Subject: =?UTF-8?q?get=5Faprox=5Fv=20kompenserar=20f=C3=B6r=20riktigt=20l?=
 =?UTF-8?q?=C3=A5ngsamt=20seg=201=20varv=201?=
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---
 Kod/bilbana/yc4/get_aprox_v.m | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

(limited to 'Kod/bilbana/yc4/get_aprox_v.m')

diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m
index 737dfac..a458f0f 100644
--- a/Kod/bilbana/yc4/get_aprox_v.m
+++ b/Kod/bilbana/yc4/get_aprox_v.m
@@ -1,4 +1,4 @@
-function [v] = get_aprox_v(cur_seg, lap, seg_times, track, seg_len)
+function [v] = get_aprox_v(cur_seg, car)
 %GET_APROX_V Tillf�llig? Beh�vs f�r att testa get_position. Ger
 %medelhastigheten f�r nuvarande segment p� f�rra varvet.
 %{
@@ -6,18 +6,21 @@ cur_seg: Nuvarande segment
 last_seg_times: 1x9 vektor med f�rra varvets segmenttider
 %}
 % seg_len = [];
-
+lap = car.lap;
 if cur_seg > 9
     cur_seg = cur_seg - 9;
 end
-
+%% Kompensera för väldigt långsamt segment 1 första varvet
+if cur_seg == 1 && lap == 2
+    v = car.seg_len(1)/0.78*car.seg_times(1,9)
+    return
+end
+%% Sätt v
 while lap > 0
     lap = lap - 1;
-    if seg_times(lap, cur_seg) ~= 0
-        v = seg_len(cur_seg) / seg_times(lap, cur_seg);
+    if car.seg_times(lap, cur_seg) ~= 0
+        v = car.seg_len(cur_seg) / car.seg_times(lap, cur_seg);
         return
     end
 end
-disp('bara nollor?');
-
 end
-- 
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