From 52d5ebb21fb3b26496211c8ae6d056bfaf5df429 Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Tue, 19 Nov 2019 17:19:02 +0100
Subject: Seg_constant_list borde funka

---
 Kod/bilbana/yc4/do_car.m | 7 +++++--
 Kod/bilbana/yc4/main.m   | 1 +
 2 files changed, 6 insertions(+), 2 deletions(-)

(limited to 'Kod/bilbana/yc4')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index f205f02..08c25fe 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -90,6 +90,7 @@ if car.running == 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;
@@ -105,6 +106,7 @@ if car.running == true
                 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
@@ -132,6 +134,7 @@ if car.running == true
 			% 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);
@@ -156,8 +159,8 @@ 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, car.lap_constants, car.num, car.pos_at);
-	car.u = get_new_u(car.v, seg_constant);
+    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
 
 %% CONTROLLER
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 9b31618..e5ac062 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -75,6 +75,7 @@ car2.map = Bana2;
 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;
 
 t = 0;
 highToc = 0;
-- 
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