From 3d7ef8b70a702512a0a1055b1aa2df536eada26f Mon Sep 17 00:00:00 2001 From: Albin Date: Fri, 15 Nov 2019 10:59:09 +0100 Subject: =?UTF-8?q?Fix=20#58=20och=20tog=20bort=20on=C3=B6dig=20lista?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Kod/bilbana/yc4/choose_position.m | 19 +++---------------- 1 file changed, 3 insertions(+), 16 deletions(-) (limited to 'Kod') diff --git a/Kod/bilbana/yc4/choose_position.m b/Kod/bilbana/yc4/choose_position.m index d6db2ca..cd18f85 100644 --- a/Kod/bilbana/yc4/choose_position.m +++ b/Kod/bilbana/yc4/choose_position.m @@ -6,8 +6,6 @@ function [new_position, seg_plus] = choose_position(position,segment, track) % justeras för att kompensera efter missad givare. track_len = [0 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57; 0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; -set_pos = [0 2.53 3.05 4.73 7.68 8.98 10.93 14.96 17.57; - 0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76]; pos_c = position; %% Vilken givare ligger närmast pos_c? near = []; @@ -23,19 +21,8 @@ for i = 1:length(track_len) end disp(near); %% Beräkning av passerad givare -if near(1) == segment - new_position = set_pos( track, segment); - seg_plus = 0; - disp('In right segment'); -else - if near(2) < 0.7 % Behöver bli smartare. Typ jämföra andra normal miss med denna miss - seg_plus = max(0, near(1) - segment); - new_position = set_pos(track, segment + seg_plus); - else - new_position = set_pos(track, segment); % ineff borde kombineras - seg_plus = 0; - disp('In right segment ich'); - end -end +seg_plus = max(0, near(1) - segment) +new_position = track_len(track, segment + seg_plus); end + -- cgit v1.2.1