From 84a1ee353c4d5de456254828542d4b604781db23 Mon Sep 17 00:00:00 2001 From: Albin Date: Fri, 8 Nov 2019 09:37:51 +0100 Subject: =?UTF-8?q?F=C3=B6rs=C3=B6kte=20fels=C3=B6ka=20och=20lade=20till?= =?UTF-8?q?=20timer=20f=C3=B6r=20eventuell=20missad=20givare?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Kod/bilbana/yc4/main.m | 21 +++++++++++++-------- 1 file changed, 13 insertions(+), 8 deletions(-) (limited to 'Kod/bilbana/yc4/main.m') diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m index 33b6944..2d450b1 100644 --- a/Kod/bilbana/yc4/main.m +++ b/Kod/bilbana/yc4/main.m @@ -33,6 +33,7 @@ car1.seg_times = []; car1.position = 0; car1.seg_len = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57]; car1.approximation = []; +car1.miss_time = uint64(0); %{ car2 = struct; @@ -105,32 +106,36 @@ while 1 last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9); aprox_v = get_aprox_v(car1.segment, last_seg_times1); car1.position = get_position(aprox_v, car1.position, t); + if detect_missed( car1.position, car1.segment, 1) + disp('Miss?'); + disp(toc(car1.miss_time)); + if car1.miss_time == 0 + car1.miss_time = tic; + end + end end if car1.new_check_point == true - if car1.new_lap == false + if car1.new_lap == false % choose_position krachar vid nytt varv (seg 10) if car1.lap ~= 0 car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic); end car1.segment = car1.segment + 1; car1.seg_tic = tic; - %approximation = car1.position; % Måste vara innan nästa rad - %car1.position = car1.seg_len(car1.segment); - % Jämför get_position med indata - %approximation = approximation - car1.position; - %car1.approximation(car1.lap, car1.segment) = approximation; - if car1.lap > 2 %Säkerhetsmarginal (Bör vara 1?) + if car1.lap > 2 % Säkerhetsmarginal (Bör vara 1?) disp(car1); [car1.position, seg_plus] = ... choose_position(car1.position,car1.segment, 1); %car1.position = x(1); car1.segment = car1.segment + seg_plus; + car1.miss_time = uint64(0); else car1.position = car1.seg_len(car1.segment); + car1.miss_time = uint64(0); end end end if car1.new_lap == true - disp('----------NEW LAP!----------') + disp('------------NEW LAP------------') if car1.lap == 0 % dont save time for first lap car1.segment = 1; -- cgit v1.2.1