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')

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;
-- 
cgit v1.2.1


From e5f92b8b507861769c7439b1873ef580e1400538 Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Wed, 20 Nov 2019 17:18:59 +0100
Subject: =?UTF-8?q?Typ=20s=C3=A5h=C3=A4r=20ska=20det=20se=20ut?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/do_boot.m | 89 +++++++++++++++++++++++++++++++++++++++++++++++
 Kod/bilbana/yc4/do_car.m  |  2 +-
 Kod/bilbana/yc4/main.m    | 47 +++++++++++++++++++------
 3 files changed, 126 insertions(+), 12 deletions(-)
 create mode 100644 Kod/bilbana/yc4/do_boot.m

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
new file mode 100644
index 0000000..645e100
--- /dev/null
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -0,0 +1,89 @@
+function [car] = do_boot(car, boot_time)
+%BOOT Summary of this function goes here
+%   Detailed explanation goes here
+if car.running == true
+    [car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
+    %% CHECK POINT
+    if car.new_check_point == 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;
+            if 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
+                    disp('Hoppar �ver missad givare 1/2');
+                else
+                    car.position = new_position;
+                    car.segment = car.segment + seg_plus;
+                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
+                %car.miss_time = uint64(0);
+            else
+                car.position = car.pos_at(car.segment);
+                %car.miss_time = uint64(0);
+            end
+        end
+    end
+    %% NEW LAP
+    if car.new_lap == true
+        car.lap_constants = gov_set(car.constant);
+        car.new_lap = false; %TODO remove
+        beep;
+        if car.lap == 0
+            % dont save time for first lap
+            car.segment = 1;
+            car.lap = car.lap + 1;
+            car.seg_tic = tic;
+            car.lap_tic = tic;
+        else
+            % beep;
+            % 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);
+            car.lap_tic = tic;
+            car.position = 0;
+
+            if car.lap == 1 && size(car.seg_times, 2) < 9
+                disp('FEL: För få segment!!')
+                car.stopped = true;
+                other_car.stopped = true;
+                return
+            end
+
+            display_data = [display_data, put_text(100, 16 + (16 * car.num), 'L', strjoin({num2str(car.lap), get_time_as_string(round(car.lap_times(car.lap) * 1000))}, ' '))];
+
+            car.segment = 1;
+            car.lap = car.lap + 1;
+        end
+    end
+    %% CALCULATE
+    if car.running == true && car.automatic == true
+        car.v = get_new_v(car.position, car.map);
+        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
+    %% BEFORE FIRST LAP
+    if car.lap == 0
+        t = toc(boot_time);
+        if t > 1
+            car.constant = car.constant + 0.05;
+            boot_time = tic;
+        end
+    end
+end
+end
\ No newline at end of file
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 08c25fe..96b328d 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -120,7 +120,7 @@ if car.running == true
 
 	%% NEW LAP
 	if car.new_lap == true
-        car.lap_constants = gov_set(get_car_constant(car.num));
+        car.lap_constants = gov_set(car.constant);
 		car.new_lap = false; %TODO remove
 		beep;
 		if car.lap == 0
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index e5ac062..7b9a2b1 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -1,4 +1,5 @@
 clear all;
+display_active = false;
 
 %% INIT TRACK
 disp('Startar bilbanan. Avsluta med q.')
@@ -17,12 +18,14 @@ global log_debug;
 log_debug = true;
 global log_verbose;
 log_verbose = false;
-
 % INIT DISPLAY
-addpath display/ClientServerApp/Release
-cd display/ClientServerApp/Release
-!startServer
-cd ../../..
+if display_active
+    
+    addpath display/ClientServerApp/Release
+    cd display/ClientServerApp/Release
+    !startServer
+    cd ../../..
+end
 
 display = struct;
 display.data = [clear_display()];
@@ -57,6 +60,8 @@ car1.map = Bana1;
 car1.approximation = [];
 car1.miss_probability = 0.0;
 car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
+car1.constant = 0.5;
+car1.boot = false;
 
 car2 = struct;
 car2.num = 2;
@@ -76,6 +81,14 @@ 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;
+car2.constant = 0.5;
+car2.boot = false;
+
+boot = struct;
+boot.car1 = false;
+boot.car2 = false;
+boot.car1_time = 0;
+boot.car2_time = 0;
 
 t = 0;
 highToc = 0;
@@ -87,6 +100,8 @@ car1.response = input('Vill du köra bil 1? [N] ', 's');
 if car1.response == 'J'
 	car1.running = true;
 	car1.automatic = true;
+    boot.car1 = true;
+    boot.car1_time = tic;
 elseif car1.response == 'M'
 	car1.running = true;
 	car1.automatic = false;
@@ -99,6 +114,8 @@ car2.response = input('Vill du köra bil 2? [N] ', 's');
 if car2.response == 'J'
 	car2.running = true;
 	car2.automatic = true;
+    boot.car2 = true;
+    boot.car2_time = tic;
 elseif car2.response == 'M'
 	car2.running = true;
 	car2.automatic = false;
@@ -114,8 +131,7 @@ elseif not(isreal(ref_time))
 	ref_time = 13;
 end
 %}
-ref_time = 13;
-
+ref_time = 13
 %% MAIN LOOP
 while 1
 	readTime = tic;
@@ -130,9 +146,18 @@ while 1
 
 	figure(hf)
 	drawnow
-
-	[car1, car1.stop, display.data] = do_car(car1, t, display.data);
-	[car2, car2.stop, display.data] = do_car(car2, t, display.data);
+    
+    %% CORE OF LOOP
+    if car1.boot
+        car1 = boot(car1, boot);
+    else
+        [car1, car1.stop, display.data] = do_car(car1, t, display.data);
+    end
+    if car2.boot
+        car2 = boot(car2, boot);
+    else
+        [car2, car2.stop, display.data] = do_car(car2, t, display.data);
+    end
 
 	if car1.stop == true
 		disp('stopped by car 1');
@@ -151,7 +176,7 @@ while 1
 	while 1                     %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder
 		% DISPLAY
 		display.send_delay = tic;
-		if toc(display.last_send) > display.send_interval
+		if toc(display.last_send) > display.send_interval && display_active
 			% queue control signal
 			if car1.running && car1.automatic
 				% display.data = [display.data, put_text(20, 16 + (16 * 1), 'L', num2str(car1.u))];
-- 
cgit v1.2.1


From 92c7372b418f3160d50fbe2fe5ab795aac1ccb4f Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Wed, 20 Nov 2019 18:17:25 +0100
Subject: =?UTF-8?q?Funkar=20n=C3=A4stan?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/do_boot.m | 82 +++--------------------------------------------
 Kod/bilbana/yc4/main.m    | 45 +++++++++++++-------------
 2 files changed, 27 insertions(+), 100 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 645e100..ffa7878 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -1,88 +1,14 @@
-function [car] = do_boot(car, boot_time)
+function [car, boot] = do_boot(car, boot)
 %BOOT Summary of this function goes here
 %   Detailed explanation goes here
 if car.running == true
-    [car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
-    %% CHECK POINT
-    if car.new_check_point == 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;
-            if 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
-                    disp('Hoppar �ver missad givare 1/2');
-                else
-                    car.position = new_position;
-                    car.segment = car.segment + seg_plus;
-                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
-                %car.miss_time = uint64(0);
-            else
-                car.position = car.pos_at(car.segment);
-                %car.miss_time = uint64(0);
-            end
-        end
-    end
-    %% NEW LAP
-    if car.new_lap == true
-        car.lap_constants = gov_set(car.constant);
-        car.new_lap = false; %TODO remove
-        beep;
-        if car.lap == 0
-            % dont save time for first lap
-            car.segment = 1;
-            car.lap = car.lap + 1;
-            car.seg_tic = tic;
-            car.lap_tic = tic;
-        else
-            % beep;
-            % 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);
-            car.lap_tic = tic;
-            car.position = 0;
-
-            if car.lap == 1 && size(car.seg_times, 2) < 9
-                disp('FEL: För få segment!!')
-                car.stopped = true;
-                other_car.stopped = true;
-                return
-            end
-
-            display_data = [display_data, put_text(100, 16 + (16 * car.num), 'L', strjoin({num2str(car.lap), get_time_as_string(round(car.lap_times(car.lap) * 1000))}, ' '))];
-
-            car.segment = 1;
-            car.lap = car.lap + 1;
-        end
-    end
-    %% CALCULATE
-    if car.running == true && car.automatic == true
-        car.v = get_new_v(car.position, car.map);
-        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
     %% BEFORE FIRST LAP
     if car.lap == 0
-        t = toc(boot_time);
+        t = toc(boot.time);
         if t > 1
             car.constant = car.constant + 0.05;
-            boot_time = tic;
+            disp(car.constant)
+            boot.time = tic;
         end
     end
 end
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 7b9a2b1..5481aa0 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -60,8 +60,8 @@ car1.map = Bana1;
 car1.approximation = [];
 car1.miss_probability = 0.0;
 car1.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO
-car1.constant = 0.5;
-car1.boot = false;
+car1.constant = 0.1;
+car1.stop = false;
 
 car2 = struct;
 car2.num = 2;
@@ -81,14 +81,16 @@ 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;
-car2.constant = 0.5;
-car2.boot = false;
+car2.constant = 0.1;
+car2.stop = false;
 
-boot = struct;
-boot.car1 = false;
-boot.car2 = false;
-boot.car1_time = 0;
-boot.car2_time = 0;
+boot1 = struct;
+boot1.status = false;
+boot1.time = 0;
+
+boot2 = struct;
+boot2.status = false;
+boot2.time = 0;
 
 t = 0;
 highToc = 0;
@@ -100,8 +102,8 @@ car1.response = input('Vill du köra bil 1? [N] ', 's');
 if car1.response == 'J'
 	car1.running = true;
 	car1.automatic = true;
-    boot.car1 = true;
-    boot.car1_time = tic;
+    boot1.status = true;
+    boot1.time = tic;
 elseif car1.response == 'M'
 	car1.running = true;
 	car1.automatic = false;
@@ -114,8 +116,8 @@ car2.response = input('Vill du köra bil 2? [N] ', 's');
 if car2.response == 'J'
 	car2.running = true;
 	car2.automatic = true;
-    boot.car2 = true;
-    boot.car2_time = tic;
+    boot2.status = true;
+    boot2.time = tic;
 elseif car2.response == 'M'
 	car2.running = true;
 	car2.automatic = false;
@@ -148,15 +150,14 @@ while 1
 	drawnow
     
     %% CORE OF LOOP
-    if car1.boot
-        car1 = boot(car1, boot);
-    else
-        [car1, car1.stop, display.data] = do_car(car1, t, display.data);
+    [car1, car1.stop, display.data] = do_car(car1, t, display.data);
+    [car2, car2.stop, display.data] = do_car(car2, t, display.data);
+    %% BOOTSTRAP
+    if boot1.status
+        [car1, boot1] = do_boot(car1, boot1);
     end
-    if car2.boot
-        car2 = boot(car2, boot);
-    else
-        [car2, car2.stop, display.data] = do_car(car2, t, display.data);
+    if boot2.status
+        [car2, boot2] = do_boot(car2, boot2);
     end
 
 	if car1.stop == true
@@ -222,7 +223,7 @@ disp(car1);
 disp(car2);
 
 terminate(1);
-terminate(2);
+terminate(2)
 
 matlabclient(3);
 
-- 
cgit v1.2.1


From 9b04ca018663d2f1015a3c77f545ed2df6b7b79d Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Wed, 20 Nov 2019 18:23:55 +0100
Subject: Tog bort seg_constant

---
 Kod/bilbana/yc4/do_car.m | 6 +-----
 Kod/bilbana/yc4/main.m   | 6 +++---
 2 files changed, 4 insertions(+), 8 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 96b328d..46d1a9d 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -90,7 +90,6 @@ 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;
@@ -106,7 +105,6 @@ 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
@@ -134,7 +132,6 @@ 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);
@@ -159,8 +156,7 @@ end
 %% CALCULATE
 if car.running == true && car.automatic == true
 	car.v = get_new_v(car.position, car.map);
-    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);
+	car.u = get_new_u(car.v, car.constant);
 end
 
 %% CONTROLLER
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 5481aa0..6794831 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -224,9 +224,9 @@ disp(car2);
 
 terminate(1);
 terminate(2)
-
-matlabclient(3);
-
+if display_active
+    matlabclient(3);
+end
 %% DISPLAY GRAPHS
 
 if car1.running == true
-- 
cgit v1.2.1


From 1a5ecc5ce4c739e0e9e22f13dd384c98a849572f Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Wed, 20 Nov 2019 19:15:08 +0100
Subject: =?UTF-8?q?Bootstrap=20funkar=20f=C3=B6r=204=20bilar=20(bl=C3=A5?=
 =?UTF-8?q?=2017,=20vit=2082,=20bussen,=20gr=C3=A5=2067)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/do_boot.m | 16 +++++++++++++++-
 Kod/bilbana/yc4/do_car.m  |  4 ++--
 Kod/bilbana/yc4/main.m    |  4 ++--
 3 files changed, 19 insertions(+), 5 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index ffa7878..31f4db0 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -5,11 +5,25 @@ if car.running == true
     %% BEFORE FIRST LAP
     if car.lap == 0
         t = toc(boot.time);
-        if t > 1
+        if t > 0.6
             car.constant = car.constant + 0.05;
             disp(car.constant)
             boot.time = tic;
         end
     end
+    %% First segment
+    if car.lap == 1 && car.segment == 1
+        t = toc(boot.time);
+        if t > 3
+            car.constant = car.constant + 0.05;
+            disp(car.constant)
+            boot.time = tic;
+        end
+    end
+    %% END BOOTSTRAP
+    if car.segment > 2
+        boot.status = 0;
+        disp('END OF BOOTSTRAP')
+    end
 end
 end
\ No newline at end of file
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 46d1a9d..7b7ebfd 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -1,4 +1,4 @@
-function [car, stop, display_data] = do_car(car, t, display_data)
+function [car, stop, display_data] = do_car(car, t, display_data, boot)
 %DO_CAR Ger nya värden till struct car, avgör om koden ska stoppas samt hämtar displaydata.
 %{
 Input/Output:
@@ -44,7 +44,7 @@ end
 %% READ INPUT FROM TRACK
 if car.running == true
 	if car.lap ~= 0
-		if toc(car.seg_tic) > 9.0
+		if toc(car.seg_tic) > 9.0 && not(boot.status)
 			set_car_speed(1, 0);
 			set_car_speed(2, 0);
 			%disp(strjoin({'Avåkning bil', num2str(car.num)}));
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 6794831..b7221e3 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -150,8 +150,8 @@ while 1
 	drawnow
     
     %% CORE OF LOOP
-    [car1, car1.stop, display.data] = do_car(car1, t, display.data);
-    [car2, car2.stop, display.data] = do_car(car2, t, display.data);
+    [car1, car1.stop, display.data] = do_car(car1, t, display.data, boot1);
+    [car2, car2.stop, display.data] = do_car(car2, t, display.data, boot2);
     %% BOOTSTRAP
     if boot1.status
         [car1, boot1] = do_boot(car1, boot1);
-- 
cgit v1.2.1


From b61d81b92dfb6515138fad71accb40fe3bba4c39 Mon Sep 17 00:00:00 2001
From: alex <aletu130@student.liu.se>
Date: Fri, 22 Nov 2019 12:53:15 +0100
Subject: =?UTF-8?q?F=C3=B6rs=C3=B6ker=20komma=20runt=20trasiga=20givare?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/scripts/test_givare.m | 29 +++++++++++++++++++++++++++--
 1 file changed, 27 insertions(+), 2 deletions(-)

(limited to 'Kod')

diff --git a/Kod/scripts/test_givare.m b/Kod/scripts/test_givare.m
index 204d501..5ad8afd 100644
--- a/Kod/scripts/test_givare.m
+++ b/Kod/scripts/test_givare.m
@@ -26,8 +26,33 @@ while 1
     [car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
     [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
     
-    if car1.new_lap == true || car1.new_check_point == true || car2.new_lap == true || car2.new_check_point == true
-       beep;
+    if car1.new_check_point
+        beep;
+        disp('car 1 cp')
+    end
+    if car2.new_check_point
+        beep;
+        disp('car 2 cp')
+    end
+    if car1.new_lap
+        beep;
+        disp('car 1 lap')
+    end
+    if car2.new_lap
+        beep;
+        disp('car 2 lap')
+    end
+    % KOMPENSERA FÖR TRASIG BANA
+    if car1.new_lap && car2.new_check_point
+        car2.new_lap = 0;
+    end
+    pause(0.1)
+    
+    if car2.new_lap
+       disp('NEW LAP CAR 2!')
+    end
+    if car2.new_check_point
+        disp('NEW CHECKPOINT CAR 2!')
     end
     
     pause(0.1)
-- 
cgit v1.2.1


From 4e4073b4c12370d162b489757e51977eeab08b8a Mon Sep 17 00:00:00 2001
From: alex <aletu130@student.liu.se>
Date: Fri, 22 Nov 2019 15:31:21 +0100
Subject: =?UTF-8?q?Lade=20till=20testscript=20kompenserat=20f=C3=B6r=20tra?=
 =?UTF-8?q?siga=20givare?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/scripts/test_givare_kompenserad.m | 79 +++++++++++++++++++++++++++++++++++
 1 file changed, 79 insertions(+)
 create mode 100644 Kod/scripts/test_givare_kompenserad.m

(limited to 'Kod')

diff --git a/Kod/scripts/test_givare_kompenserad.m b/Kod/scripts/test_givare_kompenserad.m
new file mode 100644
index 0000000..2ac0841
--- /dev/null
+++ b/Kod/scripts/test_givare_kompenserad.m
@@ -0,0 +1,79 @@
+disp('Startar bilbanan. Avsluta med q.')
+hf=figure('position',[0 0 eps eps],'menubar','none');
+
+initialize_counters(1)
+initialize_counters(2)
+
+start_race(1)
+start_race(2)
+
+config_IOs
+
+car1 = struct;
+car2 = struct;    
+
+while 1
+    %% PRE-LOOP
+    if strcmp(get(hf,'currentcharacter'),'q')
+        close(hf)
+        break
+    end
+    
+    figure(hf)
+    drawnow
+    
+    %% READ
+    [car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
+    [car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
+    
+    if car1.new_lap || car1.new_check_point == true || car2.new_lap == true || car2.new_check_point == true
+       disp('###')
+    end
+    
+    if car1.new_check_point
+        beep;
+        disp('car 1 cp')
+    end
+    if car2.new_check_point
+        beep;
+        disp('car 2 cp')
+    end
+    if car1.new_lap
+        beep;
+        disp('car 1 lap')
+    end
+    if car2.new_lap
+        beep;
+        disp('car 2 lap')
+    end
+    % KOMPENSERA FÖR TRASIG BANA
+    if car1.new_lap && (car2.new_check_point || car1.new_check_point)
+        car2.new_lap = 0;
+    elseif car1.new_lap
+        car2.new_lap = 1;
+    end
+    pause(0.1)
+    
+    if car1.new_lap || car1.new_check_point == true || car2.new_lap == true || car2.new_check_point == true
+       disp('---')
+    end
+    
+    if car1.new_lap
+        disp('New lap car 1')
+    end
+    if car1.new_check_point
+        disp('New checkpoint car 1')
+    end
+    if car2.new_lap
+       disp('NEW LAP CAR 2!')
+    end
+    if car2.new_check_point
+        disp('NEW CHECKPOINT CAR 2!')
+    end
+    
+    pause(0.1)
+end
+
+%%
+terminate(1)
+terminate(2)
\ No newline at end of file
-- 
cgit v1.2.1


From 9ed366cbce18b58df5f880e92e008c3906c93378 Mon Sep 17 00:00:00 2001
From: alex <aletu130@student.liu.se>
Date: Fri, 22 Nov 2019 15:56:46 +0100
Subject: =?UTF-8?q?Anpassade=20koden=20f=C3=B6r=20att=20hantera=20trasiga?=
 =?UTF-8?q?=20givare.=20Kan=20dock=20inte=20hantera=20'sp=C3=B6ksignaler'.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/do_car.m | 9 +++++++++
 1 file changed, 9 insertions(+)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 7b7ebfd..26f9131 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -30,6 +30,14 @@ stop - Huruvida koden ska stoppas eller inte
 stop = false;
 if car.running == true
 	[car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
+    %% KOMPENSERA FÖR TRASIG BANA
+    [car1new_lap, car1new_check_point, ~] = get_car_position(1);
+    if car1new_lap && (car1new_check_point || car1new_check_point)
+        car.new_lap = 0;
+    elseif car1new_lap
+        car.new_lap = 1;
+    end
+    %%
 	if car.new_check_point == true && rand < car.miss_probability && car.lap >= 4
 		disp('Hoppar �ver givare');
 		car.new_check_point = false;
@@ -118,6 +126,7 @@ 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
 		beep;
-- 
cgit v1.2.1


From e71ea6726340c44fbfc4f00fcfec75ac441b8a5d Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Mon, 25 Nov 2019 12:37:10 +0100
Subject: Lite justerad

---
 Kod/bilbana/yc4/do_boot.m | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 31f4db0..1638fb2 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -7,15 +7,26 @@ if car.running == true
         t = toc(boot.time);
         if t > 0.6
             car.constant = car.constant + 0.05;
+            disp('###')
+            disp(car.num)
             disp(car.constant)
             boot.time = tic;
         end
     end
+    %% WHEN NEW LAP
+    if car.new_lap == 1
+        car.constant = car.constant + 0.3;
+        disp('###')
+        disp(car.num)
+        disp(car.constant)
+    end
     %% First segment
     if car.lap == 1 && car.segment == 1
         t = toc(boot.time);
         if t > 3
-            car.constant = car.constant + 0.05;
+            car.constant = car.constant + 0.2;
+            disp('###')
+            disp(car.num)
             disp(car.constant)
             boot.time = tic;
         end
@@ -24,6 +35,8 @@ if car.running == true
     if car.segment > 2
         boot.status = 0;
         disp('END OF BOOTSTRAP')
+        disp(car.num)
+        disp(car.constant)
     end
 end
 end
\ No newline at end of file
-- 
cgit v1.2.1


From ce327fb49a6f30cfbf806eef46a04f4d98ded949 Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Mon, 25 Nov 2019 12:40:43 +0100
Subject: =?UTF-8?q?=C3=84ndrade=20sp=C3=A4nningskarta?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/Bana2.mat | Bin 623 -> 673 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
index 622fc18..31e256d 100644
Binary files a/Kod/bilbana/files/Bana2.mat and b/Kod/bilbana/files/Bana2.mat differ
-- 
cgit v1.2.1


From 51a803f74b5e3ddbbb8cd73bce72448dd82a2ff7 Mon Sep 17 00:00:00 2001
From: matuv053 <matuv053@student.liu.se>
Date: Mon, 25 Nov 2019 16:30:42 +0100
Subject: =?UTF-8?q?=C3=84ndrat=20lite=20v=C3=A4rden.?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/Bana2.mat | Bin 673 -> 668 bytes
 Kod/bilbana/yc4/do_boot.m   |  11 +++++++----
 Kod/bilbana/yc4/main.m      |   2 +-
 3 files changed, 8 insertions(+), 5 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
index 31e256d..e92709f 100644
Binary files a/Kod/bilbana/files/Bana2.mat and b/Kod/bilbana/files/Bana2.mat differ
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 1638fb2..d7e9b88 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -6,7 +6,7 @@ if car.running == true
     if car.lap == 0
         t = toc(boot.time);
         if t > 0.6
-            car.constant = car.constant + 0.05;
+            car.constant = car.constant + 0.12;
             disp('###')
             disp(car.num)
             disp(car.constant)
@@ -21,16 +21,19 @@ if car.running == true
         disp(car.constant)
     end
     %% First segment
-    if car.lap == 1 && car.segment == 1
+    if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
         t = toc(boot.time);
-        if t > 3
-            car.constant = car.constant + 0.2;
+        if t > 0.8
+            car.constant = car.constant + 0.05;
             disp('###')
             disp(car.num)
             disp(car.constant)
             boot.time = tic;
         end
     end
+    
+    
+    
     %% END BOOTSTRAP
     if car.segment > 2
         boot.status = 0;
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index b7221e3..96e5374 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -223,7 +223,7 @@ disp(car1);
 disp(car2);
 
 terminate(1);
-terminate(2)
+terminate(2);
 if display_active
     matlabclient(3);
 end
-- 
cgit v1.2.1


From cf90eccbbbc8b016626a746df45ec84dd07b477a Mon Sep 17 00:00:00 2001
From: alex <aletu130@student.liu.se>
Date: Tue, 26 Nov 2019 07:40:36 +0100
Subject: =?UTF-8?q?=C3=84ndrade=20lite=20i=20sp=C3=A4nningskartan=20f?=
 =?UTF-8?q?=C3=B6r=20att=20det=20skulle=20fungera,=20samt=20=C3=A4ndra=20p?=
 =?UTF-8?q?=C3=A5=20v=C3=A4rdena?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/files/Bana1.mat | Bin 621 -> 1216 bytes
 Kod/bilbana/files/Bana2.mat | Bin 668 -> 1216 bytes
 Kod/bilbana/yc4/do_boot.m   |  17 +++++++++++++++--
 3 files changed, 15 insertions(+), 2 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana1.mat b/Kod/bilbana/files/Bana1.mat
index d83861f..e745c59 100644
Binary files a/Kod/bilbana/files/Bana1.mat and b/Kod/bilbana/files/Bana1.mat differ
diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
index e92709f..f9369e4 100644
Binary files a/Kod/bilbana/files/Bana2.mat and b/Kod/bilbana/files/Bana2.mat differ
diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index d7e9b88..44ae1e7 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -15,7 +15,7 @@ if car.running == true
     end
     %% WHEN NEW LAP
     if car.new_lap == 1
-        car.constant = car.constant + 0.3;
+        car.constant = car.constant + 0.4;
         disp('###')
         disp(car.num)
         disp(car.constant)
@@ -24,13 +24,26 @@ if car.running == true
     if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
         t = toc(boot.time);
         if t > 0.8
-            car.constant = car.constant + 0.05;
+            car.constant = car.constant + 0.06;
             disp('###')
             disp(car.num)
             disp(car.constant)
             boot.time = tic;
         end
+        
     end
+ %% ide höj carconstant så att den blir mer aggresivare ju längre tid som det går t.ex efter 3.5 s   
+ %%    if car.lap == 1 && car.segment == 1 || car.lap == 1 && car.segment == 2
+ %%        t = toc(boot.time);
+ %%        if t > 1.0
+ %%            car.constant = car.constant + 0.5;
+ %%            disp('###')
+ %%            disp(car.num)
+ %%            disp(car.constant)
+ %%            boot.time = tic;
+ %%        end
+ %%        
+ %%    end    
     
     
     
-- 
cgit v1.2.1


From 6d397e0826d9d09cd7a6973513d38cd993bd2779 Mon Sep 17 00:00:00 2001
From: alex <aletu130@student.liu.se>
Date: Tue, 26 Nov 2019 16:49:07 +0100
Subject: Massa arbeten

---
 Kod/bilbana/yc4/do_boot.m | 10 +++++++---
 Kod/bilbana/yc4/do_car.m  | 22 +++++++++++-----------
 Kod/bilbana/yc4/main.m    | 20 +++++++++++++++-----
 3 files changed, 33 insertions(+), 19 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_boot.m b/Kod/bilbana/yc4/do_boot.m
index 44ae1e7..5019319 100644
--- a/Kod/bilbana/yc4/do_boot.m
+++ b/Kod/bilbana/yc4/do_boot.m
@@ -45,10 +45,14 @@ if car.running == true
  %%        
  %%    end    
     
-    
-    
     %% END BOOTSTRAP
-    if car.segment > 2
+    if car.segment > 3
+        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 / car.ref_time
+        car.constant = car.constant + (forecast_ref_diff_rel * 0.15)
         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 26f9131..a6240ec 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -30,14 +30,6 @@ stop - Huruvida koden ska stoppas eller inte
 stop = false;
 if car.running == true
 	[car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
-    %% KOMPENSERA FÖR TRASIG BANA
-    [car1new_lap, car1new_check_point, ~] = get_car_position(1);
-    if car1new_lap && (car1new_check_point || car1new_check_point)
-        car.new_lap = 0;
-    elseif car1new_lap
-        car.new_lap = 1;
-    end
-    %%
 	if car.new_check_point == true && rand < car.miss_probability && car.lap >= 4
 		disp('Hoppar �ver givare');
 		car.new_check_point = false;
@@ -98,20 +90,24 @@ 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);
-			end
+            end
+            
+            seg_time = car.seg_times(car.lap, car.segment);
+            car.forecasts(car.lap, car.segment) = seg_time / car.percents(car.segment);
+            
 			car.segment = car.segment + 1;
 			car.seg_tic = tic;
 			if 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
+                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
+                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)
@@ -127,6 +123,7 @@ 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
 		beep;
@@ -147,6 +144,9 @@ if car.running == true
 			car.lap_tic = tic;
 			car.position = 0;
 
+            % save segment percentage from last lap
+            car.percents = fit_percents(car.percents, car.lap_times(car.lap), car.seg_times(car.lap,:))
+            
 			if car.lap == 1 && size(car.seg_times, 2) < 9
 				disp('FEL: För få segment!!')
 				car.stopped = true;
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 96e5374..7f5264b 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -20,7 +20,6 @@ global log_verbose;
 log_verbose = false;
 % INIT DISPLAY
 if display_active
-    
     addpath display/ClientServerApp/Release
     cd display/ClientServerApp/Release
     !startServer
@@ -56,6 +55,7 @@ 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.map = Bana1;
 car1.approximation = [];
 car1.miss_probability = 0.0;
@@ -76,6 +76,8 @@ car2.seg_times = [];
 car2.position = 0;
 car2.pos_at  = [0.0 2.53 3.05 4.92 7.62 9.02 10.72 14.68 17.76 19.95];
 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 = 0.1;
 car2.seg_constant_list = []; % TODO
@@ -133,7 +135,8 @@ elseif not(isreal(ref_time))
 	ref_time = 13;
 end
 %}
-ref_time = 13
+car1.ref_time = 15;
+car2.ref_time = 15;
 %% MAIN LOOP
 while 1
 	readTime = tic;
@@ -159,7 +162,14 @@ while 1
     if boot2.status
         [car2, boot2] = do_boot(car2, boot2);
     end
-
+    %% GOVERNOR
+    if not(boot1.status) && car1.lap ~= 0
+        car1 = do_gov(car1);
+    end
+    if not(boot2.status) && car2.lap ~= 0
+        car2 = do_gov(car2);
+    end
+    %%
 	if car1.stop == true
 		disp('stopped by car 1');
 		break;
@@ -230,12 +240,12 @@ end
 %% DISPLAY GRAPHS
 
 if car1.running == true
-	graphs(car1.lap_times, ref_time, car1.seg_times, 1);
+	graphs(car1.lap_times, car1.ref_time, car1.seg_times, 1);
 end
 
 
 if car2.running == true
-	graphs(car2.lap_times, ref_time, car2.seg_times, 2);
+	graphs(car2.lap_times, car2.ref_time, car2.seg_times, 2);
 end
 
 %% SAVE VARIABLES FROM CAR STRUCT
-- 
cgit v1.2.1


From 484d7bfd8c9d20ef2ff1555ffcc905e747d111ea Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?David=20Thor=C3=A9n?= <davth346@student.liu.se>
Date: Wed, 27 Nov 2019 13:03:58 +0100
Subject: fix

---
 Kod/bilbana/files/Bana2.mat    | Bin 1216 -> 1207 bytes
 Kod/bilbana/yc4/do_car.m       |  11 +++++++++--
 Kod/bilbana/yc4/do_gov.m       |   9 +++++++++
 Kod/bilbana/yc4/fit_percents.m |  11 +++++++++++
 Kod/bilbana/yc4/setup_car.m    |  17 +++++++++++++++++
 5 files changed, 46 insertions(+), 2 deletions(-)
 create mode 100644 Kod/bilbana/yc4/do_gov.m
 create mode 100644 Kod/bilbana/yc4/fit_percents.m
 create mode 100644 Kod/bilbana/yc4/setup_car.m

(limited to 'Kod')

diff --git a/Kod/bilbana/files/Bana2.mat b/Kod/bilbana/files/Bana2.mat
index f9369e4..743de15 100644
Binary files a/Kod/bilbana/files/Bana2.mat and b/Kod/bilbana/files/Bana2.mat differ
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index a6240ec..cf534fa 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -92,8 +92,15 @@ if car.running == true
 				car.seg_times(car.lap, car.segment) = toc(car.seg_tic);
             end
             
-            seg_time = car.seg_times(car.lap, car.segment);
-            car.forecasts(car.lap, car.segment) = seg_time / car.percents(car.segment);
+            seg_time = car.seg_times(car.lap, car.segment)
+            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.segment = car.segment + 1;
 			car.seg_tic = tic;
diff --git a/Kod/bilbana/yc4/do_gov.m b/Kod/bilbana/yc4/do_gov.m
new file mode 100644
index 0000000..d38336a
--- /dev/null
+++ b/Kod/bilbana/yc4/do_gov.m
@@ -0,0 +1,9 @@
+function [ car ] = do_gov( car )
+%UNTITLED Summary of this function goes here
+%   Detailed explanation goes here
+if car.new_check_point
+    status = car.forecasts(car.lap, car.segment-1)/car.ref_time;
+    car.constant = car.constant + (status - 1) * 0.01;
+    disp(car.constant);
+end
+
diff --git a/Kod/bilbana/yc4/fit_percents.m b/Kod/bilbana/yc4/fit_percents.m
new file mode 100644
index 0000000..ffdb9fc
--- /dev/null
+++ b/Kod/bilbana/yc4/fit_percents.m
@@ -0,0 +1,11 @@
+function [ new_percents ] = fit_percents( percents, lap_time, seg_times )
+%FIT_PERCENTS Summary of this function goes here
+%   Detailed explanation goes here
+new_percents = [];
+for i = 1:length(percents)
+    old_p = percents(i);
+    cur_p = seg_times(i) / lap_time;
+    new_p = old_p - (old_p + cur_p) / 2;
+    new_percents(i) = new_p;
+end
+
diff --git a/Kod/bilbana/yc4/setup_car.m b/Kod/bilbana/yc4/setup_car.m
new file mode 100644
index 0000000..1ab75e0
--- /dev/null
+++ b/Kod/bilbana/yc4/setup_car.m
@@ -0,0 +1,17 @@
+function [] = setup_car(car, track)
+%UNTITLED2 Summary of this function goes here
+%   Detailed explanation goes here
+disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej');
+
+car.response = input('Vill du köra bil 1? [N] ', 's');
+if car.response == 'J'
+	car.running = true;
+	car.automatic = true;
+elseif car.response == 'M'
+	car.running = true;
+	car.automatic = false;
+else
+	car.running = false;
+end
+end
+
-- 
cgit v1.2.1