From 1a989c55ec63460c38fa09f3922991ab48adca5e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?David=20Thor=C3=A9n?= <davth346@student.liu.se>
Date: Thu, 28 Nov 2019 12:08:21 +0100
Subject: =?UTF-8?q?N=C3=A5got=20b=C3=A4ttre=20bana=201=20typ?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/Bana.mat  | Bin 0 -> 1194 bytes
 Kod/bilbana/files/Bana1.mat | Bin 1216 -> 0 bytes
 Kod/bilbana/files/Bana2.mat | Bin 1202 -> 0 bytes
 Kod/bilbana/yc4/do_boot.m   |  12 ++++++------
 Kod/bilbana/yc4/do_car.m    |   3 ++-
 Kod/bilbana/yc4/do_gov.m    |  21 ++++++++++++++++++---
 Kod/bilbana/yc4/main.m      |  13 +++----------
 7 files changed, 29 insertions(+), 20 deletions(-)
 create mode 100644 Kod/bilbana/files/Bana.mat
 delete mode 100644 Kod/bilbana/files/Bana1.mat
 delete mode 100644 Kod/bilbana/files/Bana2.mat

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat
new file mode 100644
index 0000000..8167d4f
Binary files /dev/null and b/Kod/bilbana/files/Bana.mat differ
diff --git a/Kod/bilbana/files/Bana1.mat b/Kod/bilbana/files/Bana1.mat
deleted file mode 100644
index e745c59..0000000
Binary files a/Kod/bilbana/files/Bana1.mat and /dev/null differ
diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
deleted file mode 100644
index 56d1acb..0000000
Binary files a/Kod/bilbana/files/Bana2.mat and /dev/null differ
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 9c4930c..1049910 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -5,7 +5,7 @@ if car.running == true
     %% BEFORE FIRST LAP
     if car.lap == 0
         t = toc(boot.time);
-        if t > 0.6
+        if t > 0.7
             car.constant = car.constant + 0.12;
             disp('###')
             disp(car.num)
@@ -15,7 +15,7 @@ if car.running == true
     end
     %% WHEN NEW LAP
     if car.new_lap == 1
-        car.constant = car.constant * 1.2;
+        car.constant = car.constant + 0.2;
         disp('###')
         disp(car.num)
         disp(car.constant)
@@ -23,7 +23,7 @@ if car.running == true
     %% First segment
     if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
         t = toc(boot.time);
-        if t > 0.8
+        if t > 1
             car.constant = car.constant + 0.04;
             disp('###')
             disp(car.num)
@@ -51,9 +51,9 @@ if car.running == true
         seg_time = car.seg_times(1, 3);
         laptime_forecast = seg_time / 0.102;
         forecast_ref_diff = laptime_forecast - car.ref_time;
-        forecast_ref_diff_rel = forecast_ref_diff / car.ref_time;
-        car.constant = car.constant + (forecast_ref_diff_rel * 0.15);
-        car.constant = car.constant * 1.05;  % kompensation för kall bana
+        forecast_ref_diff_rel = forecast_ref_diff / 20;%car.ref_time;
+        car.constant = car.constant + (forecast_ref_diff_rel * 0.5);
+        %car.constant = car.constant * 1.05;  % kompensation för kall bana
         boot.status = 0;
         disp('END OF BOOTSTRAP')
         disp(car.num)
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 7728c28..cb3e934 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -98,6 +98,7 @@ if car.running == true
 
 	%% CHECK POINT
 	if car.new_check_point == true
+        disp(car)
 		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);
@@ -192,7 +193,7 @@ if car.running == true && car.automatic == false
     mult = 100;
     max = 55;
     div = 55;
-	set_car_speed(car.num, mult * ((max - get_manual_speed(car.num)) / div));
+	set_car_speed(car.num, mult * ((max - get_manual_speed(car.num)) / div))
 end
 
 %% EXECUTE
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m
index 5f89c57..e0dc45d 100644
--- a/Kod/bilbana/yc4/do_gov.m
+++ b/Kod/bilbana/yc4/do_gov.m
@@ -4,8 +4,23 @@ function [ car ] = do_gov( car )
 if car.new_lap
     % TODO calculate stuff
 elseif car.new_check_point && (car.segment == 5 || car.segment == 8)
-    status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
-    car.constant = car.constant + (status - 1) * 0.08;
-    car.governs(length(car.governs) + 1) = car.constant;
+    if true %car.lap == 1
+        status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
+        car.constant = car.constant + (status - 1) * 0.08;
+        car.governs(length(car.governs) + 1) = car.constant;
+    end
+    %{
+    if car.lap > 1 && (car.segment == 5 || car.segment == 8)
+        car.lap_now = toc(car.lap_tic);
+        norm_const = 1/(sum(car.percents(1:9)));
+        norm_list = car.percents * norm_const;
+        sum_percent = sum(norm_list(1:car.segment));
+        exp_time = car.ref_time * sum_percent;
+        
+        status = car.lap_now/exp_time;
+        car.constant = car.constant + (status - 1) * 0.08;
+        car.governs(length(car.governs) + 1) = car.constant;
+    end
+    %}
 end
 
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index f589c29..2f45089 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -37,8 +37,7 @@ display.shm_interp.data = [];
 display.last_send = tic;
 display.send_interval = 0.5;
 
-load('bilbana\files\Bana1.mat')
-load('bilbana\files\Bana2.mat')
+load('bilbana\files\Bana.mat')
 
 car1 = struct;
 car1.num = 1;
@@ -50,15 +49,13 @@ car1.segment = 1;
 car1.lap = 0;
 car1.lap_times = [];
 car1.seg_times = [];
-car1.seg_constant_list = []; % TODO
 car1.position = 0;
 car1.pos_at  = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57 19.60];
 car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99];
-car1.percents = [];  % TODO
+car1.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113];  % TODO
 car1.map = Bana1;
-car1.approximation = [];
+%car1.approximation = [];
 car1.miss_probability = 0.0;
-car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
 car1.constant = 0.1;
 car1.stop = false;
 car1.governs = [];
@@ -79,9 +76,6 @@ car2.seg_len = [2.53 0.52 1.87 2.70 1.40 1.70 4.03 3.08 2.19];
 car2.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113];
 car2.map = Bana2;
 car2.miss_probability = 0.05;
-car2.seg_constant_list = []; % TODO
-car2.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
-car2.seg_constant = 1;
 car2.constant = 0.1;
 car2.stop = false;
 car2.governs = [];
@@ -307,7 +301,6 @@ while 1
     end
 end
 
-
 %% END OF RACE
 disp(highToc);
 disp(car1);
-- 
cgit v1.2.1


From 597c8a5a23044ecdf67af76df93529ee0a3f6ba2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Thu, 28 Nov 2019 12:42:10 +0100
Subject: =?UTF-8?q?L=C3=A4gg=20till=20gammal=20car.forecasts?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/do_car.m       | 52 +++++++++++++++++++++---------------------
 Kod/bilbana/yc4/fit_percents.m |  2 +-
 Kod/bilbana/yc4/main.m         |  5 +++-
 3 files changed, 31 insertions(+), 28 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index cb3e934..ea7d901 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -98,45 +98,45 @@ if car.running == true
 
 	%% CHECK POINT
 	if car.new_check_point == true
-        disp(car)
+		disp(car)
 		if car.new_lap == false % choose_position krachar vid nytt varv (seg 10)
-            if car.lap ~= 0
+			if car.lap ~= 0
 				car.seg_times(car.lap, car.segment) = toc(car.seg_tic);
-            end
-            
-            lap_time_now = toc(car.lap_tic);
-            % s = vt
-            % v = s/t
-            % t = s/v
-            prev_seg_v = car.seg_len(car.segment) / toc(car.seg_tic);
-            track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1);
-            forecast = lap_time_now + track_remaining/prev_seg_v;
-            
-            car.forecasts(car.lap, car.segment) = forecast;
-            
+			end
+
+			lap_time_now = toc(car.lap_tic);
+			% s = vt
+			% v = s/t
+			% t = s/v
+			prev_seg_v = car.seg_len(car.segment) / toc(car.seg_tic);
+			track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1);
+			car.forecasts(car.lap, car.segment) = lap_time_now + track_remaining/prev_seg_v;
+
+			car.forecast_naive(car.lap, car.segment) = toc(car.seg_tic) / car.percents(car.segment)
+
 			car.segment = car.segment + 1;
 			car.seg_tic = tic;
-            
-            if car.automatic && car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
+
+			if car.automatic && car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
 				disp(car)
 				[new_position, seg_plus] = ...
-						choose_position(car.position, car.segment, car.num, car.pos_at);
-                if seg_plus ~= 0 && car.segment == 2
+					choose_position(car.position, car.segment, car.num, car.pos_at);
+				if seg_plus ~= 0 && car.segment == 2
 					disp('Hoppar �ver missad givare 1/2');
 				else
 					car.position = new_position;
 					car.segment = car.segment + seg_plus;
-                end
-                if seg_plus ~= 0 && car.segment ~= 2
-                    car.seg_times(car.lap, car.segment - seg_plus - 1) = 0;
-                    disp(car.seg_times(car.lap, :))
-                    disp(seg_plus)
-                end
+				end
+				if seg_plus ~= 0 && car.segment ~= 2
+					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
+			else
 				car.position = car.pos_at(car.segment);
 				%car.miss_time = uint64(0);
-            end
+			end
 		end
 	end
 
diff --git a/Kod/bilbana/yc4/fit_percents.m b/Kod/bilbana/yc4/fit_percents.m
index ffdb9fc..7ccf0ba 100644
--- a/Kod/bilbana/yc4/fit_percents.m
+++ b/Kod/bilbana/yc4/fit_percents.m
@@ -8,4 +8,4 @@ for i = 1:length(percents)
     new_p = old_p - (old_p + cur_p) / 2;
     new_percents(i) = new_p;
 end
-
+new_percents = new_percents * (1/sum(new_percents))  % normera
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 2f45089..fbcdb6c 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -59,6 +59,8 @@ car1.miss_probability = 0.0;
 car1.constant = 0.1;
 car1.stop = false;
 car1.governs = [];
+car1.forecasts = [];
+car1.forecasts_naive = [];
 
 car2 = struct;
 car2.num = 2;
@@ -79,7 +81,8 @@ car2.miss_probability = 0.05;
 car2.constant = 0.1;
 car2.stop = false;
 car2.governs = [];
-
+car2.forecasts = [];
+car2.forecasts_naive = [];
 
 boot1 = struct;
 boot1.status = false;
-- 
cgit v1.2.1


From 603a0f3dec6953c1dd008687bfda5d49508dd413 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?David=20Thor=C3=A9n?= <davth346@student.liu.se>
Date: Thu, 28 Nov 2019 13:03:10 +0100
Subject: =?UTF-8?q?F=C3=B6rs=C3=B6kt=20anpassa=20bana=201?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/Bana.mat | Bin 1194 -> 1192 bytes
 Kod/bilbana/yc4/do_car.m   |   2 +-
 Kod/bilbana/yc4/do_gov.m   |   8 ++++++--
 Kod/bilbana/yc4/main.m     |   1 -
 4 files changed, 7 insertions(+), 4 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat
index 8167d4f..0d24a00 100644
Binary files a/Kod/bilbana/files/Bana.mat and b/Kod/bilbana/files/Bana.mat differ
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index ea7d901..2a5c873 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -112,7 +112,7 @@ if car.running == true
 			track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1);
 			car.forecasts(car.lap, car.segment) = lap_time_now + track_remaining/prev_seg_v;
 
-			car.forecast_naive(car.lap, car.segment) = toc(car.seg_tic) / car.percents(car.segment)
+			car.forecasts_naive(car.lap, car.segment) = toc(car.seg_tic) / car.percents(car.segment)
 
 			car.segment = car.segment + 1;
 			car.seg_tic = tic;
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m
index e0dc45d..29d3b2e 100644
--- a/Kod/bilbana/yc4/do_gov.m
+++ b/Kod/bilbana/yc4/do_gov.m
@@ -5,8 +5,12 @@ if car.new_lap
     % TODO calculate stuff
 elseif car.new_check_point && (car.segment == 5 || car.segment == 8)
     if true %car.lap == 1
-        status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
-        car.constant = car.constant + (status - 1) * 0.08;
+        if car.lap == 1
+            status = car.forecasts_naive(car.lap, car.segment-1)/car.ref_time;
+        else
+            status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
+        end
+            car.constant = car.constant + (status - 1) * 0.08;
         car.governs(length(car.governs) + 1) = car.constant;
     end
     %{
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index fbcdb6c..18fa982 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -308,7 +308,6 @@ end
 disp(highToc);
 disp(car1);
 disp(car2);
-
 terminate(1);
 terminate(2);
 
-- 
cgit v1.2.1


From 8979aecffd0ab85e1b23428cbef073f4c1ba7f36 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Thu, 28 Nov 2019 15:40:15 +0100
Subject: Anpassa car.constant vid nytt varv

---
 Kod/bilbana/yc4/do_car.m |  7 +++----
 Kod/bilbana/yc4/do_gov.m | 46 +++++++++++++++++++++++-----------------------
 2 files changed, 26 insertions(+), 27 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 2a5c873..04c0f55 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -142,10 +142,9 @@ if car.running == true
 
 	%% NEW LAP
 	if car.new_lap == true
-        disp('NEW LAP')
-        
-        car.lap_constants = gov_set(car.constant);
-		% car.new_lap = false; %TODO remove
+		disp('NEW LAP')
+
+		car.lap_constants = gov_set(car.constant);
 		beep;
 		if car.lap == 0
 			% dont save time for first lap
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m
index 29d3b2e..c92017a 100644
--- a/Kod/bilbana/yc4/do_gov.m
+++ b/Kod/bilbana/yc4/do_gov.m
@@ -2,29 +2,29 @@ function [ car ] = do_gov( car )
 %UNTITLED Summary of this function goes here
 %   Detailed explanation goes here
 if car.new_lap
-    % TODO calculate stuff
+	last_lap_time = car.lap_times(car.lap - 1);
+	time_diff = last_lap_time - car.ref_time;  % diff >0 => car is too slow, go faster
+	car.constant = car.constant + (time_diff / car.ref_time) * 0.1;
 elseif car.new_check_point && (car.segment == 5 || car.segment == 8)
-    if true %car.lap == 1
-        if car.lap == 1
-            status = car.forecasts_naive(car.lap, car.segment-1)/car.ref_time;
-        else
-            status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
-        end
-            car.constant = car.constant + (status - 1) * 0.08;
-        car.governs(length(car.governs) + 1) = car.constant;
-    end
-    %{
-    if car.lap > 1 && (car.segment == 5 || car.segment == 8)
-        car.lap_now = toc(car.lap_tic);
-        norm_const = 1/(sum(car.percents(1:9)));
-        norm_list = car.percents * norm_const;
-        sum_percent = sum(norm_list(1:car.segment));
-        exp_time = car.ref_time * sum_percent;
-        
-        status = car.lap_now/exp_time;
-        car.constant = car.constant + (status - 1) * 0.08;
-        car.governs(length(car.governs) + 1) = car.constant;
-    end
-    %}
+	if car.lap == 1
+		status = car.forecasts_naive(car.lap, car.segment-1)/car.ref_time;
+	else
+		status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
+	end
+	car.constant = car.constant + (status - 1) * 0.08;
+	car.governs(length(car.governs) + 1) = car.constant;
+	%{
+	if car.lap > 1 && (car.segment == 5 || car.segment == 8)
+	car.lap_now = toc(car.lap_tic);
+	norm_const = 1/(sum(car.percents(1:9)));
+	norm_list = car.percents * norm_const;
+	sum_percent = sum(norm_list(1:car.segment));
+	exp_time = car.ref_time * sum_percent;
+
+	status = car.lap_now/exp_time;
+	car.constant = car.constant + (status - 1) * 0.08;
+	car.governs(length(car.governs) + 1) = car.constant;
+	end
+	%}
 end
 
-- 
cgit v1.2.1


From 73117213ab2b46c6045be187797ad5734dcaf7d9 Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Thu, 28 Nov 2019 19:45:05 +0100
Subject: Lite smartare END OF BOOTSTRAP

---
 Kod/bilbana/yc4/do_boot.m | 11 +++++------
 Kod/bilbana/yc4/do_gov.m  |  2 +-
 2 files changed, 6 insertions(+), 7 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 1049910..2d4784d 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -47,17 +47,16 @@ if car.running == true
     
     %% END BOOTSTRAP
     if car.segment > 3
+        car.governs(length(car.governs) + 1) = car.constant;
         disp(car.constant);
-        seg_time = car.seg_times(1, 3);
-        laptime_forecast = seg_time / 0.102;
-        forecast_ref_diff = laptime_forecast - car.ref_time;
-        forecast_ref_diff_rel = forecast_ref_diff / 20;%car.ref_time;
-        car.constant = car.constant + (forecast_ref_diff_rel * 0.5);
-        %car.constant = car.constant * 1.05;  % kompensation för kall bana
+        status = car.forecasts_naive(car.lap, car.segment-1)/20;
+        car.constant = car.constant + (status - 1) * 0.08;
+        
         boot.status = 0;
         disp('END OF BOOTSTRAP')
         disp(car.num)
         disp(car.constant)
+        car.governs(length(car.governs) + 1) = car.constant;
     end
 end
 end
\ No newline at end of file
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m
index c92017a..8ebea57 100644
--- a/Kod/bilbana/yc4/do_gov.m
+++ b/Kod/bilbana/yc4/do_gov.m
@@ -1,7 +1,7 @@
 function [ car ] = do_gov( car )
 %UNTITLED Summary of this function goes here
 %   Detailed explanation goes here
-if car.new_lap
+if car.new_lap && car.lap > 1 % annars höjer den typ alltid första varvet
 	last_lap_time = car.lap_times(car.lap - 1);
 	time_diff = last_lap_time - car.ref_time;  % diff >0 => car is too slow, go faster
 	car.constant = car.constant + (time_diff / car.ref_time) * 0.1;
-- 
cgit v1.2.1


From d178a9de2ede3f11b990fc08dd4054513b7d2d8d Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Thu, 28 Nov 2019 20:03:27 +0100
Subject: =?UTF-8?q?Gr=C3=A5=2067=20k=C3=B6r=20b=C3=A4ttre'?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/Bana.mat | Bin 1192 -> 1189 bytes
 Kod/bilbana/yc4/do_boot.m  |   4 ++--
 2 files changed, 2 insertions(+), 2 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat
index 0d24a00..0a4b650 100644
Binary files a/Kod/bilbana/files/Bana.mat and b/Kod/bilbana/files/Bana.mat differ
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 2d4784d..a9306ef 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -20,10 +20,10 @@ if car.running == true
         disp(car.num)
         disp(car.constant)
     end
-    %% First segment
+    %% First segments
     if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
         t = toc(boot.time);
-        if t > 1
+        if t > 1.2
             car.constant = car.constant + 0.04;
             disp('###')
             disp(car.num)
-- 
cgit v1.2.1


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?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/Bana.mat    | Bin 1189 -> 1186 bytes
 Kod/bilbana/yc4/do_car.m      |   2 +-
 Kod/bilbana/yc4/get_aprox_v.m |  17 ++++++++++-------
 3 files changed, 11 insertions(+), 8 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat
index 0a4b650..722afd9 100644
Binary files a/Kod/bilbana/files/Bana.mat and b/Kod/bilbana/files/Bana.mat differ
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 04c0f55..e627a93 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -73,7 +73,7 @@ if car.running == true
 	%% CALC POSITION
     if car.automatic && car.lap > 1
 		% car.last_seg_times = car.seg_times(car.lap - 1, 1:9);
-		aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car.lap, car.seg_times, car.num, car.seg_len);
+		aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car);
 		car.position = get_position(aprox_v, car.position, t);
         if detect_missed( car.position, car.segment, car.num, car.pos_at)
 			disp('Miss?');
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
-- 
cgit v1.2.1


From 42b5099a927ef4963197072b6c1d292aa5c5dcb6 Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Thu, 28 Nov 2019 21:07:02 +0100
Subject: Missade en parantes

---
 Kod/bilbana/yc4/get_aprox_v.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m
index a458f0f..f2a4a65 100644
--- a/Kod/bilbana/yc4/get_aprox_v.m
+++ b/Kod/bilbana/yc4/get_aprox_v.m
@@ -12,7 +12,7 @@ if 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)
+    v = car.seg_len(1)/(0.78*car.seg_times(1,9))
     return
 end
 %% Sätt v
-- 
cgit v1.2.1


From 4f43e4de06f97e9f2169301d57a52bae6c7b215f Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Thu, 28 Nov 2019 22:09:26 +0100
Subject: =?UTF-8?q?N=C3=A5got=20mindre=20d=C3=A5lig=20k=C3=B6rning=20f?=
 =?UTF-8?q?=C3=B6r=20silver=2067?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/Bana.mat    | Bin 1186 -> 1186 bytes
 Kod/bilbana/yc4/do_car.m      |  14 ++++++++------
 Kod/bilbana/yc4/get_aprox_v.m |   2 +-
 3 files changed, 9 insertions(+), 7 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat
index 722afd9..ddb74f2 100644
Binary files a/Kod/bilbana/files/Bana.mat and b/Kod/bilbana/files/Bana.mat differ
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index e627a93..0aed013 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -75,6 +75,10 @@ if car.running == true
 		% car.last_seg_times = car.seg_times(car.lap - 1, 1:9);
 		aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car);
 		car.position = get_position(aprox_v, car.position, t);
+        if car.lap == 2 && car.segment < 4
+            disp('####')
+            disp(car.position)
+        end
         if detect_missed( car.position, car.segment, car.num, car.pos_at)
 			disp('Miss?');
 
@@ -98,7 +102,6 @@ if car.running == true
 
 	%% CHECK POINT
 	if car.new_check_point == true
-		disp(car)
 		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);
@@ -118,7 +121,6 @@ if car.running == true
 			car.seg_tic = tic;
 
 			if car.automatic && car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
-				disp(car)
 				[new_position, seg_plus] = ...
 					choose_position(car.position, car.segment, car.num, car.pos_at);
 				if seg_plus ~= 0 && car.segment == 2
@@ -137,14 +139,13 @@ if car.running == true
 				car.position = car.pos_at(car.segment);
 				%car.miss_time = uint64(0);
 			end
-		end
+        end
+        disp(car)
 	end
 
 	%% NEW LAP
 	if car.new_lap == true
 		disp('NEW LAP')
-
-		car.lap_constants = gov_set(car.constant);
 		beep;
 		if car.lap == 0
 			% dont save time for first lap
@@ -177,7 +178,8 @@ if car.running == true
 
 			car.segment = 1;
 			car.lap = car.lap + 1;
-		end
+        end
+        disp(car)
 	end
 end
 
diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m
index f2a4a65..2ed2a04 100644
--- a/Kod/bilbana/yc4/get_aprox_v.m
+++ b/Kod/bilbana/yc4/get_aprox_v.m
@@ -12,7 +12,7 @@ if 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))
+    v = car.seg_len(1)/(1.5*car.seg_times(1,9))
     return
 end
 %% Sätt v
-- 
cgit v1.2.1


From eb9ecb33847612eca9d48dd3a88b4cf1396b70dd Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Fri, 29 Nov 2019 11:35:42 +0100
Subject: =?UTF-8?q?Inf=C3=B6r=20bp5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.mat | Bin 0 -> 5888 bytes
 Kod/bilbana/files/Bana.mat                         | Bin 1186 -> 1175 bytes
 Kod/bilbana/files/file_test.m                      |   3 --
 .../gr\303\245_bilbana1_2019-11-29T10.41.mat"      | Bin 0 -> 5931 bytes
 .../gr\303\245_bilbana1_2019-11-29T10.53.mat"      | Bin 0 -> 5886 bytes
 .../gr\303\245_bilbana1_2019-11-29T11.20.mat"      | Bin 0 -> 5895 bytes
 Kod/bilbana/yc4/display/scenes/draw_lap_graph.m    |   8 ++---
 Kod/bilbana/yc4/do_boot.m                          |  35 +++++++++++----------
 Kod/bilbana/yc4/do_car.m                           |  35 ++++++++++++---------
 Kod/bilbana/yc4/get_aprox_v.m                      |   2 +-
 Kod/bilbana/yc4/main.m                             |  20 ++----------
 11 files changed, 46 insertions(+), 57 deletions(-)
 create mode 100644 Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.mat
 delete mode 100644 Kod/bilbana/files/file_test.m
 create mode 100644 "Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T10.41.mat"
 create mode 100644 "Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T10.53.mat"
 create mode 100644 "Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T11.20.mat"

(limited to 'Kod')

diff --git a/Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.mat b/Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.mat
new file mode 100644
index 0000000..393d76d
Binary files /dev/null and b/Kod/bilbana/files/17_bilbana1_2019-11-29T11.29.mat differ
diff --git a/Kod/bilbana/files/Bana.mat b/Kod/bilbana/files/Bana.mat
index ddb74f2..38918a6 100644
Binary files a/Kod/bilbana/files/Bana.mat and b/Kod/bilbana/files/Bana.mat differ
diff --git a/Kod/bilbana/files/file_test.m b/Kod/bilbana/files/file_test.m
deleted file mode 100644
index 1370e7d..0000000
--- a/Kod/bilbana/files/file_test.m
+++ /dev/null
@@ -1,3 +0,0 @@
-Bana1
-car_position = 9.74;
-get_new_v(car_position, Bana1)
\ No newline at end of file
diff --git "a/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T10.41.mat" "b/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T10.41.mat"
new file mode 100644
index 0000000..7e14c4f
Binary files /dev/null and "b/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T10.41.mat" differ
diff --git "a/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T10.53.mat" "b/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T10.53.mat"
new file mode 100644
index 0000000..5bbd96b
Binary files /dev/null and "b/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T10.53.mat" differ
diff --git "a/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T11.20.mat" "b/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T11.20.mat"
new file mode 100644
index 0000000..d42c6c9
Binary files /dev/null and "b/Kod/bilbana/files/gr\303\245_bilbana1_2019-11-29T11.20.mat" differ
diff --git a/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m b/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
index 9fd669b..ca5ec83 100644
--- a/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
+++ b/Kod/bilbana/yc4/display/scenes/draw_lap_graph.m
@@ -83,15 +83,15 @@ if ~(in_clipboard)
 	car1.avg = '--.-';
 	car1.dev = '-.--';
 	if length(car1_laptimes) > 5
-		car1.avg = num2str(mean(car1_laptimes(6, length(car1_laptimes))), 3);
-		car1.dev = num2str(std(car1_laptimes(6, length(car1_laptimes))), 2);
+		car1.avg = num2str(mean(car1_laptimes(6:length(car1_laptimes))), 3);
+		car1.dev = num2str(std(car1_laptimes(6:length(car1_laptimes))), 2);
 	end
 	car2 = struct;
 	car2.avg = '--.-';
 	car2.dev = '-.--';
 	if length(car2_laptimes) > 5
-		car2.avg = num2str(mean(car2_laptimes(6, length(car2_laptimes))), 3);
-		car2.dev = num2str(std(car2_laptimes(6, length(car2_laptimes))), 2);
+		car2.avg = num2str(mean(car2_laptimes(6:length(car2_laptimes))), 3);
+		car2.dev = num2str(std(car2_laptimes(6:length(car2_laptimes))), 2);
 	end
 
 	line = 12;
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index a9306ef..5b60eb8 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -7,27 +7,31 @@ if car.running == true
         t = toc(boot.time);
         if t > 0.7
             car.constant = car.constant + 0.12;
-            disp('###')
-            disp(car.num)
-            disp(car.constant)
+            % disp('###')
+            % disp(car.num)
+            % disp(car.constant)
             boot.time = tic;
         end
     end
     %% WHEN NEW LAP
     if car.new_lap == 1
         car.constant = car.constant + 0.2;
-        disp('###')
-        disp(car.num)
-        disp(car.constant)
+        % disp('###')
+        % disp(car.num)
+        % disp(car.constant)
     end
     %% First segments
     if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
         t = toc(boot.time);
         if t > 1.2
-            car.constant = car.constant + 0.04;
-            disp('###')
-            disp(car.num)
-            disp(car.constant)
+            if car.num == 1
+                car.constant = car.constant + 0.06;
+            else
+                car.constant = car.constant + 0.04;
+            end
+            % disp('###')
+            % disp(car.num)
+            % disp(car.constant)
             boot.time = tic;
         end
         
@@ -42,20 +46,19 @@ if car.running == true
  %            disp(car.constant)
  %            boot.time = tic;
  %        end
- %        
  %    end    
     
     %% END BOOTSTRAP
     if car.segment > 3
         car.governs(length(car.governs) + 1) = car.constant;
-        disp(car.constant);
-        status = car.forecasts_naive(car.lap, car.segment-1)/20;
+        % disp(car.constant);
+        status = car.forecasts_naive(car.lap, car.segment-1) / 15;
         car.constant = car.constant + (status - 1) * 0.08;
         
         boot.status = 0;
-        disp('END OF BOOTSTRAP')
-        disp(car.num)
-        disp(car.constant)
+        % disp('END OF BOOTSTRAP')
+        % disp(car.num)
+        % disp(car.constant)
         car.governs(length(car.governs) + 1) = car.constant;
     end
 end
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 0aed013..92e4f8d 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -58,9 +58,9 @@ if car.running == true
         if toc(car.seg_tic) > 9.0
 			set_car_speed(1, 0);
 			set_car_speed(2, 0);
-			%disp(strjoin({'Avåkning bil', num2str(car.num)}));
-			disp('J = Ja, N = Nej')
-			car.response = input('Vill du fortsätta? [N] ', 's');
+			disp(strjoin({'Avåkning bil', num2str(car.num)}));
+			disp('(J = Ja, N = Nej)');
+			car.response = input('Vill du fortsätta? [N] ', 's');
             if car.response == 'J'
 				car.seg_tic = tic;
 			else
@@ -76,11 +76,11 @@ if car.running == true
 		aprox_v = get_aprox_v(car.segment + detect_missed(car.position, car.segment, car.num, car.pos_at), car);
 		car.position = get_position(aprox_v, car.position, t);
         if car.lap == 2 && car.segment < 4
-            disp('####')
-            disp(car.position)
+            % disp('####')
+            % disp(car.position)
         end
         if detect_missed( car.position, car.segment, car.num, car.pos_at)
-			disp('Miss?');
+			% disp('Miss?');
 
 			%disp(toc(car.miss_time));
 			%if car.miss_time == 0
@@ -115,9 +115,9 @@ if car.running == true
 			track_remaining = car.pos_at(length(car.pos_at)) - car.pos_at(car.segment + 1);
 			car.forecasts(car.lap, car.segment) = lap_time_now + track_remaining/prev_seg_v;
 
-			car.forecasts_naive(car.lap, car.segment) = toc(car.seg_tic) / car.percents(car.segment)
+			car.forecasts_naive(car.lap, car.segment) = toc(car.seg_tic) / car.percents(car.segment);
 
-			car.segment = car.segment + 1;
+			car.segment = min(9, car.segment + 1);
 			car.seg_tic = tic;
 
 			if car.automatic && car.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
@@ -127,7 +127,7 @@ if car.running == true
 					disp('Hoppar �ver missad givare 1/2');
 				else
 					car.position = new_position;
-					car.segment = car.segment + seg_plus;
+					car.segment = min(9, car.segment + seg_plus);
 				end
 				if seg_plus ~= 0 && car.segment ~= 2
 					car.seg_times(car.lap, car.segment - seg_plus - 1) = 0;
@@ -147,7 +147,7 @@ if car.running == true
 	if car.new_lap == true
 		disp('NEW LAP')
 		beep;
-		if car.lap == 0
+        if car.lap == 0
 			% dont save time for first lap
 			car.segment = 1;
 			car.lap = car.lap + 1;
@@ -191,14 +191,19 @@ end
 
 %% CONTROLLER
 if car.running == true && car.automatic == false
-    mult = 100;
-    max = 55;
-    div = 55;
-	set_car_speed(car.num, mult * ((max - get_manual_speed(car.num)) / div))
+    mult_ = 100;
+    max_ = 55;
+    div_ = 55;
+	set_car_speed(car.num, mult_ * ((max_ - get_manual_speed(car.num)) / div_))
 end
 
 %% EXECUTE
 if car.running == true && car.automatic == true
-	set_car_speed(car.num, car.u);
+	disp(strjoin({num2str(car.num), num2str(car.u), num2str(car.position)}))
+    if not(boot.status)
+        set_car_speed(car.num, max(car.u, 16));
+    else
+        set_car_speed(car.num, car.u);
+    end
 end
 end
diff --git a/Kod/bilbana/yc4/get_aprox_v.m b/Kod/bilbana/yc4/get_aprox_v.m
index 2ed2a04..5b6808b 100644
--- a/Kod/bilbana/yc4/get_aprox_v.m
+++ b/Kod/bilbana/yc4/get_aprox_v.m
@@ -12,7 +12,7 @@ if cur_seg > 9
 end
 %% Kompensera för väldigt långsamt segment 1 första varvet
 if cur_seg == 1 && lap == 2
-    v = car.seg_len(1)/(1.5*car.seg_times(1,9))
+    v = car.seg_len(1)/(1.5*car.seg_times(1,9));
     return
 end
 %% Sätt v
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 18fa982..4ca058a 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -15,7 +15,7 @@ start_race(2)
 
 %% INIT
 global log_debug;
-log_debug = true;
+log_debug = false;
 global log_verbose;
 log_verbose = false;
 % INIT DISPLAY
@@ -55,7 +55,7 @@ car1.seg_len = [2.53 0.53 1.68 2.92 1.2 2.01 3.83 2.89 1.99];
 car1.percents = [0.088, 0.022, 0.102, 0.15, 0.058, 0.11, 0.212, 0.146, 0.113];  % TODO
 car1.map = Bana1;
 %car1.approximation = [];
-car1.miss_probability = 0.0;
+car1.miss_probability = 0.05;
 car1.constant = 0.1;
 car1.stop = false;
 car1.governs = [];
@@ -124,64 +124,48 @@ done = false;
 while 1
 	pause(0.1);
 	if toc(display.last_check) > 0.4
-		verbose('DISPLAY', 'toc > 0.4');
 		display.last_check = tic;
 
 		% read internal mem from last send
 		[display.out, display.shm] = matlabclient(2);
 		[display.shm_interp.ack, display.shm_interp.start_code, display.shm_interp.data] = get_response(display.shm);
 
-		verbose('DISPLAY', 'Requesting internal mem for next cycle...');
 		% request internal mem
 		matlabclient(1, hex2dec(['12'; '01'; '53'; '66']));
 
 		if isempty(display.shm_interp.data)
-			verbose('DISPLAY', 'No response');
 			continue
 		end
-		debug('DISPLAY', ['Reading ', num2str(length(display.shm_interp.data)), ' package(-s)']);
 
 		update_ref_time = false;
 		for i = 1:length(display.shm_interp.data)
 			data = display.shm_interp.data(i);
 			if data.data == 32
-				debug('DISPLAY', ...
-					'Start-button pressed, exiting when no more packages');
 				done = true;
 			elseif data.data == 11
-				debug('DISPLAY', 'Enabling car 1');
 				car1.running = true;
 			elseif data.data == 12
-				debug('DISPLAY', 'Disabling car 1');
 				car1.running = false;
 			elseif data.data == 13
-				debug('DISPLAY', 'Enabling car 1 manual');
 				car1.automatic = false;
 			elseif data.data == 14
-				debug('DISPLAY', 'Disabling car 1');
 				car1.automatic = true;
 			elseif data.data == 21
-				debug('DISPLAY', 'Enabling car 2');
 				car2.running = true;
 			elseif data.data == 22
-				debug('DISPLAY', 'Disabling car 2');
 				car2.running = false;
 			elseif data.data == 23
-				debug('DISPLAY', 'Enabling car 2 manual');
 				car2.automatic = false;
 			elseif data.data == 24
-				debug('DISPLAY', 'Disabling car 2 manual');
 				car2.automatic = true;
 			elseif data.data == 41
 				% ignore
 			elseif data.data == 42
-				debug('DISPLAY', ['Decreasing ref_time to ', num2str(ref_time)]);
 				ref_time = max(ref_time - 0.5, 12.0);
 				update_ref_time = true;
 			elseif data.data == 43
 				% ignore
 			elseif data.data == 44
-				debug('DISPLAY', ['Increasing ref_time to ', num2str(ref_time)]);
 				ref_time = min(ref_time + 0.5, 15.0);
 				update_ref_time = true;
 			end
-- 
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