From c899eb8386e3e976260c7769bdcd65e034959f67 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Sun, 27 Oct 2019 14:09:36 +0100
Subject: First wave of function

---
 Kod/bilbana/yc4/display/continue_line.m                     | 5 +++++
 Kod/bilbana/yc4/display/define_flashing_area.m              | 5 +++++
 Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m | 5 +++++
 Kod/bilbana/yc4/display/delete_area.m                       | 5 +++++
 Kod/bilbana/yc4/display/draw_box.m                          | 5 +++++
 Kod/bilbana/yc4/display/draw_frame.m                        | 5 +++++
 Kod/bilbana/yc4/display/draw_frame_box.m                    | 5 +++++
 Kod/bilbana/yc4/display/draw_point.m                        | 5 +++++
 Kod/bilbana/yc4/display/draw_rectangle.m                    | 5 +++++
 Kod/bilbana/yc4/display/fill_area.m                         | 5 +++++
 Kod/bilbana/yc4/display/fill_area_with_pattern.m            | 5 +++++
 Kod/bilbana/yc4/display/fill_display.m                      | 3 +++
 Kod/bilbana/yc4/display/get_bytes.m                         | 3 +++
 Kod/bilbana/yc4/display/invert_area.m                       | 5 +++++
 Kod/bilbana/yc4/display/invert_display.m                    | 3 +++
 Kod/bilbana/yc4/display/put_text.m                          | 4 ++--
 Kod/bilbana/yc4/display/remove_flashing_area.m              | 5 +++++
 Kod/bilbana/yc4/display/restore_display_from_clipboard.m    | 3 +++
 Kod/bilbana/yc4/display/save_area_to_clipboard.m            | 5 +++++
 Kod/bilbana/yc4/display/save_display_to_clipboard.m         | 3 +++
 Kod/bilbana/yc4/display/set_display_visible.m               | 7 +++++++
 Kod/bilbana/yc4/display/set_drawing_mode.m                  | 5 +++++
 Kod/bilbana/yc4/display/set_flashing_time.m                 | 3 +++
 Kod/bilbana/yc4/display/set_pattern.m                       | 5 +++++
 Kod/bilbana/yc4/display/set_point_size.m                    | 5 +++++
 25 files changed, 112 insertions(+), 2 deletions(-)
 create mode 100644 Kod/bilbana/yc4/display/continue_line.m
 create mode 100644 Kod/bilbana/yc4/display/define_flashing_area.m
 create mode 100644 Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m
 create mode 100644 Kod/bilbana/yc4/display/delete_area.m
 create mode 100644 Kod/bilbana/yc4/display/draw_box.m
 create mode 100644 Kod/bilbana/yc4/display/draw_frame.m
 create mode 100644 Kod/bilbana/yc4/display/draw_frame_box.m
 create mode 100644 Kod/bilbana/yc4/display/draw_point.m
 create mode 100644 Kod/bilbana/yc4/display/draw_rectangle.m
 create mode 100644 Kod/bilbana/yc4/display/fill_area.m
 create mode 100644 Kod/bilbana/yc4/display/fill_area_with_pattern.m
 create mode 100644 Kod/bilbana/yc4/display/fill_display.m
 create mode 100644 Kod/bilbana/yc4/display/get_bytes.m
 create mode 100644 Kod/bilbana/yc4/display/invert_area.m
 create mode 100644 Kod/bilbana/yc4/display/invert_display.m
 create mode 100644 Kod/bilbana/yc4/display/remove_flashing_area.m
 create mode 100644 Kod/bilbana/yc4/display/restore_display_from_clipboard.m
 create mode 100644 Kod/bilbana/yc4/display/save_area_to_clipboard.m
 create mode 100644 Kod/bilbana/yc4/display/save_display_to_clipboard.m
 create mode 100644 Kod/bilbana/yc4/display/set_display_visible.m
 create mode 100644 Kod/bilbana/yc4/display/set_drawing_mode.m
 create mode 100644 Kod/bilbana/yc4/display/set_flashing_time.m
 create mode 100644 Kod/bilbana/yc4/display/set_pattern.m
 create mode 100644 Kod/bilbana/yc4/display/set_point_size.m

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/display/continue_line.m b/Kod/bilbana/yc4/display/continue_line.m
new file mode 100644
index 0000000..9734201
--- /dev/null
+++ b/Kod/bilbana/yc4/display/continue_line.m
@@ -0,0 +1,5 @@
+function pkg = continue_line(x2, y2)
+	arg = [get_bytes(x2), get_bytes(y2)];
+	
+	pkg = get_package('GW', arg)
+end
diff --git a/Kod/bilbana/yc4/display/define_flashing_area.m b/Kod/bilbana/yc4/display/define_flashing_area.m
new file mode 100644
index 0000000..11d6cf3
--- /dev/null
+++ b/Kod/bilbana/yc4/display/define_flashing_area.m
@@ -0,0 +1,5 @@
+function pkg = define_flashing_area(x1, y1, x2, y2)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+
+	pkg = get_package('QI', arg);
+end
diff --git a/Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m b/Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m
new file mode 100644
index 0000000..eb13e90
--- /dev/null
+++ b/Kod/bilbana/yc4/display/define_flashing_area_with_pattern.m
@@ -0,0 +1,5 @@
+function pkg = define_flashing_area_with_pattern(x1, y1, x2, y2, n1)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1];
+
+	pkg = get_package('QM', arg);
+end
diff --git a/Kod/bilbana/yc4/display/delete_area.m b/Kod/bilbana/yc4/display/delete_area.m
new file mode 100644
index 0000000..44953b7
--- /dev/null
+++ b/Kod/bilbana/yc4/display/delete_area.m
@@ -0,0 +1,5 @@
+function pkg = delete_area(x1, y1, x2, y2)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+
+	pkg = get_package('RL', arg);
+end
diff --git a/Kod/bilbana/yc4/display/draw_box.m b/Kod/bilbana/yc4/display/draw_box.m
new file mode 100644
index 0000000..b9eb5be
--- /dev/null
+++ b/Kod/bilbana/yc4/display/draw_box.m
@@ -0,0 +1,5 @@
+function pkg = draw_box(x1, y1, x2, y2, n1)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1];
+
+	pkg = get_package('RO', arg);
+end
diff --git a/Kod/bilbana/yc4/display/draw_frame.m b/Kod/bilbana/yc4/display/draw_frame.m
new file mode 100644
index 0000000..7b97adb
--- /dev/null
+++ b/Kod/bilbana/yc4/display/draw_frame.m
@@ -0,0 +1,5 @@
+function pkg = draw_frame(x1, y1, x2, y2, n1)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+
+	pkg = get_package('RR', arg);
+end
diff --git a/Kod/bilbana/yc4/display/draw_frame_box.m b/Kod/bilbana/yc4/display/draw_frame_box.m
new file mode 100644
index 0000000..9b57c7c
--- /dev/null
+++ b/Kod/bilbana/yc4/display/draw_frame_box.m
@@ -0,0 +1,5 @@
+function pkg = draw_frame_box(x1, y1, x2, y2, n1)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1];
+
+	pkg = get_package('RT', arg);
+end
diff --git a/Kod/bilbana/yc4/display/draw_point.m b/Kod/bilbana/yc4/display/draw_point.m
new file mode 100644
index 0000000..b81d8cb
--- /dev/null
+++ b/Kod/bilbana/yc4/display/draw_point.m
@@ -0,0 +1,5 @@
+function pkg = draw_point(x1, y1)
+	arg = [get_bytes(x1), get_bytes(y2)];
+
+	pkg = get_package('GP', arg);
+end
diff --git a/Kod/bilbana/yc4/display/draw_rectangle.m b/Kod/bilbana/yc4/display/draw_rectangle.m
new file mode 100644
index 0000000..9e92cad
--- /dev/null
+++ b/Kod/bilbana/yc4/display/draw_rectangle.m
@@ -0,0 +1,5 @@
+function pkg = draw_rectangle(x1, y1, x2, y2)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+	
+	pkg = get_package('GR', arg);
+end
diff --git a/Kod/bilbana/yc4/display/fill_area.m b/Kod/bilbana/yc4/display/fill_area.m
new file mode 100644
index 0000000..4d64463
--- /dev/null
+++ b/Kod/bilbana/yc4/display/fill_area.m
@@ -0,0 +1,5 @@
+function pkg = fill_area(x1, y1, x2, y2)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+
+	pkg = get_package('RS', arg);
+end
diff --git a/Kod/bilbana/yc4/display/fill_area_with_pattern.m b/Kod/bilbana/yc4/display/fill_area_with_pattern.m
new file mode 100644
index 0000000..4815f5b
--- /dev/null
+++ b/Kod/bilbana/yc4/display/fill_area_with_pattern.m
@@ -0,0 +1,5 @@
+function pkg = fill_area_with_pattern(x1, y1, x2, y2, n1)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2), n1];
+
+	pkg = get_package('RM', arg);
+end
diff --git a/Kod/bilbana/yc4/display/fill_display.m b/Kod/bilbana/yc4/display/fill_display.m
new file mode 100644
index 0000000..e5fc1d2
--- /dev/null
+++ b/Kod/bilbana/yc4/display/fill_display.m
@@ -0,0 +1,3 @@
+function pkg = fill_display()
+	pkg = get_package('DS', []);
+end
diff --git a/Kod/bilbana/yc4/display/get_bytes.m b/Kod/bilbana/yc4/display/get_bytes.m
new file mode 100644
index 0000000..76efc9c
--- /dev/null
+++ b/Kod/bilbana/yc4/display/get_bytes.m
@@ -0,0 +1,3 @@
+function bytes = get_bytes(num):
+	bytes = [mod(num, 256), num ./ 256];
+end
diff --git a/Kod/bilbana/yc4/display/invert_area.m b/Kod/bilbana/yc4/display/invert_area.m
new file mode 100644
index 0000000..39db3c2
--- /dev/null
+++ b/Kod/bilbana/yc4/display/invert_area.m
@@ -0,0 +1,5 @@
+function pkg = invert_area(x1, y1, x2, y2)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+
+	pkg = get_package('RI', arg);
+end
diff --git a/Kod/bilbana/yc4/display/invert_display.m b/Kod/bilbana/yc4/display/invert_display.m
new file mode 100644
index 0000000..ab2ddad
--- /dev/null
+++ b/Kod/bilbana/yc4/display/invert_display.m
@@ -0,0 +1,3 @@
+function pkg = invert_display()
+	pkg = get_package('DI', []);
+end
diff --git a/Kod/bilbana/yc4/display/put_text.m b/Kod/bilbana/yc4/display/put_text.m
index 5b80192..22871e3 100644
--- a/Kod/bilbana/yc4/display/put_text.m
+++ b/Kod/bilbana/yc4/display/put_text.m
@@ -1,7 +1,7 @@
 function [pkg] = put_text(x, y, justification, text)
-	code = double(strjoin({'Z', justification}, ''));
+	code = strjoin({'Z', justification}, '');
 
-	arg1 = [x, 0, y, 0];
+	arg1 = [mod(x, 256), x ./ 256, mod(y, 256), y ./ 256];
 	arg2 = text;
 	arg3 = 0;
 
diff --git a/Kod/bilbana/yc4/display/remove_flashing_area.m b/Kod/bilbana/yc4/display/remove_flashing_area.m
new file mode 100644
index 0000000..701402b
--- /dev/null
+++ b/Kod/bilbana/yc4/display/remove_flashing_area.m
@@ -0,0 +1,5 @@
+function pkg = remove_flashing_area(x1, y1, x2, y2)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+
+	pkg = get_package('QL', arg);
+end
diff --git a/Kod/bilbana/yc4/display/restore_display_from_clipboard.m b/Kod/bilbana/yc4/display/restore_display_from_clipboard.m
new file mode 100644
index 0000000..9542851
--- /dev/null
+++ b/Kod/bilbana/yc4/display/restore_display_from_clipboard.m
@@ -0,0 +1,3 @@
+function pkg = restore_display_from_clipboard()
+	pkg = get_package('CR', []);
+end
diff --git a/Kod/bilbana/yc4/display/save_area_to_clipboard.m b/Kod/bilbana/yc4/display/save_area_to_clipboard.m
new file mode 100644
index 0000000..8098b06
--- /dev/null
+++ b/Kod/bilbana/yc4/display/save_area_to_clipboard.m
@@ -0,0 +1,5 @@
+function pkg = save_area_to_clipboard(x1, y1, x2, y2)
+	arg = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+
+	pkg = get_package('CS', arg);
+end
diff --git a/Kod/bilbana/yc4/display/save_display_to_clipboard.m b/Kod/bilbana/yc4/display/save_display_to_clipboard.m
new file mode 100644
index 0000000..f8cd0bd
--- /dev/null
+++ b/Kod/bilbana/yc4/display/save_display_to_clipboard.m
@@ -0,0 +1,3 @@
+function pkg = save_display_to_clipboard()
+	pkg = get_package('CB', []);
+end
diff --git a/Kod/bilbana/yc4/display/set_display_visible.m b/Kod/bilbana/yc4/display/set_display_visible.m
new file mode 100644
index 0000000..12fa3b3
--- /dev/null
+++ b/Kod/bilbana/yc4/display/set_display_visible.m
@@ -0,0 +1,7 @@
+function pkg = set_display_visible(visible)
+	if visible == true
+		pkg = get_package('DE', []);
+	else
+		pkg = get_package('DA', []);
+	end
+end
diff --git a/Kod/bilbana/yc4/display/set_drawing_mode.m b/Kod/bilbana/yc4/display/set_drawing_mode.m
new file mode 100644
index 0000000..c8ecf07
--- /dev/null
+++ b/Kod/bilbana/yc4/display/set_drawing_mode.m
@@ -0,0 +1,5 @@
+function pkg = set_drawing_mode(n1)
+	arg = [n1];
+
+	pkg = get_package('GV', arg);
+end
diff --git a/Kod/bilbana/yc4/display/set_flashing_time.m b/Kod/bilbana/yc4/display/set_flashing_time.m
new file mode 100644
index 0000000..e4f056d
--- /dev/null
+++ b/Kod/bilbana/yc4/display/set_flashing_time.m
@@ -0,0 +1,3 @@
+function pkg = set_flashing_time(n1)
+	pkg = get_package('QZ', [n1]);
+end
diff --git a/Kod/bilbana/yc4/display/set_pattern.m b/Kod/bilbana/yc4/display/set_pattern.m
new file mode 100644
index 0000000..5ec583e
--- /dev/null
+++ b/Kod/bilbana/yc4/display/set_pattern.m
@@ -0,0 +1,5 @@
+function pkg = set_pattern(n1)
+	arg = [n1];
+
+	pkg = get_package('GM', n1);
+end
diff --git a/Kod/bilbana/yc4/display/set_point_size.m b/Kod/bilbana/yc4/display/set_point_size.m
new file mode 100644
index 0000000..750b172
--- /dev/null
+++ b/Kod/bilbana/yc4/display/set_point_size.m
@@ -0,0 +1,5 @@
+function pkg = set_point_size(n1, n2)
+	arg = [n1 n2];
+	
+	pkg = get_package('GZ', arg);
+end
-- 
cgit v1.2.1


From 0d761ebf3811ae20d74bbce8f4988c3a7ab8349d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Sun, 27 Oct 2019 14:26:09 +0100
Subject: Second wave

---
 Kod/bilbana/yc4/display/define_touch_key.m                        | 7 +++++++
 Kod/bilbana/yc4/display/define_touch_switch.m                     | 7 +++++++
 Kod/bilbana/yc4/display/restore_display_from_clipboard_to_point.m | 5 +++++
 Kod/bilbana/yc4/display/set_touch_sound_response.m                | 7 +++++++
 4 files changed, 26 insertions(+)
 create mode 100644 Kod/bilbana/yc4/display/define_touch_key.m
 create mode 100644 Kod/bilbana/yc4/display/define_touch_switch.m
 create mode 100644 Kod/bilbana/yc4/display/restore_display_from_clipboard_to_point.m
 create mode 100644 Kod/bilbana/yc4/display/set_touch_sound_response.m

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/display/define_touch_key.m b/Kod/bilbana/yc4/display/define_touch_key.m
new file mode 100644
index 0000000..14ee5ee
--- /dev/null
+++ b/Kod/bilbana/yc4/display/define_touch_key.m
@@ -0,0 +1,7 @@
+function pkg = define_touch_key(x1, y1, x2, y2, down_code, up_code, just, text)
+	arg_location = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+	arg_text = double(strjoin({just; text}, ''));
+	arg_null = 0;
+
+	pkg = get_package('AT', [arg_location, down_code, up_code, arg_text, arg_null]);
+end
diff --git a/Kod/bilbana/yc4/display/define_touch_switch.m b/Kod/bilbana/yc4/display/define_touch_switch.m
new file mode 100644
index 0000000..47d3cd9
--- /dev/null
+++ b/Kod/bilbana/yc4/display/define_touch_switch.m
@@ -0,0 +1,7 @@
+function pkg = define_touch_key(x1, y1, x2, y2, down_code, up_code, just, text)
+	arg_location = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
+	arg_text = double(strjoin({just; text}, ''));
+	arg_null = 0;
+
+	pkg = get_package('AK', [arg_location, down_code, up_code, arg_text, arg_null]);
+end
diff --git a/Kod/bilbana/yc4/display/restore_display_from_clipboard_to_point.m b/Kod/bilbana/yc4/display/restore_display_from_clipboard_to_point.m
new file mode 100644
index 0000000..2c9e1aa
--- /dev/null
+++ b/Kod/bilbana/yc4/display/restore_display_from_clipboard_to_point.m
@@ -0,0 +1,5 @@
+function pkg = restore_display_from_clipboard_to_point(x1, y1)
+	arg = [get_bytes(x1), get_bytes(y1)];
+
+	pkg = get_package('CK', arg);
+end
diff --git a/Kod/bilbana/yc4/display/set_touch_sound_response.m b/Kod/bilbana/yc4/display/set_touch_sound_response.m
new file mode 100644
index 0000000..851eaf2
--- /dev/null
+++ b/Kod/bilbana/yc4/display/set_touch_sound_response.m
@@ -0,0 +1,7 @@
+function pkg = set_touch_sound_response(state)
+	if state == true
+		pkg = get_package('AS', [1]);
+	else
+		pkg = get_package('AS', [0]);
+	end
+end
-- 
cgit v1.2.1


From ca01e2e6e69fd702ed2f4cf56d6323593bea3278 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Tue, 12 Nov 2019 12:34:14 +0100
Subject: Add test IO

---
 Kod/bilbana/yc4/display/get_package.m          | 10 ++------
 Kod/bilbana/yc4/display/get_response.m         | 34 ++++++++++++++++++++++++++
 Kod/bilbana/yc4/display/get_smallpackage.m     |  8 ++++++
 Kod/bilbana/yc4/display/send_data_to_display.m |  4 +++
 4 files changed, 48 insertions(+), 8 deletions(-)
 create mode 100644 Kod/bilbana/yc4/display/get_response.m
 create mode 100644 Kod/bilbana/yc4/display/get_smallpackage.m

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/display/get_package.m b/Kod/bilbana/yc4/display/get_package.m
index 7c3a01e..efaf311 100644
--- a/Kod/bilbana/yc4/display/get_package.m
+++ b/Kod/bilbana/yc4/display/get_package.m
@@ -1,10 +1,4 @@
-function [pkg] = get_package(code, args)
-	DC1 = 17;
+function pkg = get_package(code, args)
 	ESC = 27;
-
-	data = [ESC, double(code), args];
-	len = length(data);
-	initStr = [DC1, len, data];
-	bcc = mod(sum(initStr), 256);
-	pkg = [initStr, bcc];
+	pkg = [ESC, double(code), args];
 end
diff --git a/Kod/bilbana/yc4/display/get_response.m b/Kod/bilbana/yc4/display/get_response.m
new file mode 100644
index 0000000..9714a43
--- /dev/null
+++ b/Kod/bilbana/yc4/display/get_response.m
@@ -0,0 +1,34 @@
+function [ack, start_code, data] get_response(display_data)
+% GET RESPONSE
+%	In-depth explanation
+%	[flag, display_data] = matlabclient(2)
+
+ack = false;
+start_code = '';
+data = [];
+
+len = -1;
+
+if display_data[0] == 6
+	ack = true;
+else
+	return
+end
+
+display_data[0] = [];
+
+if display_data[0] == 17
+	start_code = 'DC1';
+elseif display_data[0] == 18
+	start_code = 'DC2';
+end
+
+display_data[0] = [];
+
+len = display_data[0];
+
+while len > 0
+	
+end
+
+end
diff --git a/Kod/bilbana/yc4/display/get_smallpackage.m b/Kod/bilbana/yc4/display/get_smallpackage.m
new file mode 100644
index 0000000..1c0835c
--- /dev/null
+++ b/Kod/bilbana/yc4/display/get_smallpackage.m
@@ -0,0 +1,8 @@
+function pkg = get_smallpackage(data)
+	DC1 = 17;
+
+	len = length(data);
+	initStr = [DC1, len, data];
+	bcc = mod(sum(initStr), 256);
+	pkg = [initStr, bcc];
+end
diff --git a/Kod/bilbana/yc4/display/send_data_to_display.m b/Kod/bilbana/yc4/display/send_data_to_display.m
index c5d70c7..50af84f 100644
--- a/Kod/bilbana/yc4/display/send_data_to_display.m
+++ b/Kod/bilbana/yc4/display/send_data_to_display.m
@@ -20,6 +20,10 @@ function [] = send_data_to_display()
         %% SEND DATA
         % disp('sending data');
         % disp(display_data)
+		
+		data = [];
+		
+
         matlabclient(1, display_data{1});
         last_send = clock;
         display_data(1) = [];
-- 
cgit v1.2.1


From f735459829046e9e2a9911d8cf31546a5bebefee Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Tue, 12 Nov 2019 12:34:58 +0100
Subject: fix func name

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

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/display/define_touch_switch.m b/Kod/bilbana/yc4/display/define_touch_switch.m
index 47d3cd9..4dfc764 100644
--- a/Kod/bilbana/yc4/display/define_touch_switch.m
+++ b/Kod/bilbana/yc4/display/define_touch_switch.m
@@ -1,4 +1,4 @@
-function pkg = define_touch_key(x1, y1, x2, y2, down_code, up_code, just, text)
+function pkg = define_touch_switch(x1, y1, x2, y2, down_code, up_code, just, text)
 	arg_location = [get_bytes(x1), get_bytes(y1), get_bytes(x2), get_bytes(y2)];
 	arg_text = double(strjoin({just; text}, ''));
 	arg_null = 0;
-- 
cgit v1.2.1


From fae98d23d1932f346c469d4a13098ff0e3aa1e10 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Wed, 13 Nov 2019 00:57:40 +0100
Subject: Revert cycle-length to 0.07

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

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index fa966e8..87e4e4e 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -310,7 +310,7 @@ while 1
     while 1                     %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder
         pause(0.001);
         t = toc(readTime);
-        if t > 0.1
+        if t > 0.07
             if t > highToc
                 highToc = t;     %Om det nya v�rdet p� pausen �r h�gre �n den tidigare h�gsta s� sparas det som den h�gsta
             end
-- 
cgit v1.2.1


From d68ff43bbaaa55aa07a9a9839ef139ebb5cce4fb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Wed, 13 Nov 2019 01:00:03 +0100
Subject: Add do_car-function (not tested)

---
 Kod/bilbana/yc4/do_car.m | 111 +++++++++++++++++++++++
 Kod/bilbana/yc4/main.m   | 228 ++++-------------------------------------------
 2 files changed, 126 insertions(+), 213 deletions(-)
 create mode 100644 Kod/bilbana/yc4/do_car.m

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
new file mode 100644
index 0000000..118aaec
--- /dev/null
+++ b/Kod/bilbana/yc4/do_car.m
@@ -0,0 +1,111 @@
+function [car, stop] = do_car(car)
+
+stop = false;
+
+if car.running == true
+	[car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
+	if car.new_check_point == true && rand < car.miss_probability && car.lap >= 4
+		disp('Hoppar �ver givare');
+		car.new_check_point = false;
+		beep;
+	end
+end
+
+%% CHECK LAP AND CHECKPOINT
+if car.running == true
+	if car.lap ~= 0
+		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');
+			if car.response == 'J'
+				car.seg_tic = tic;
+			else
+				stop = true;
+				return;
+			end
+		end
+	end
+	%% CALC POSITION
+	if 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.lap, car.seg_times, car.num);
+		car.position = get_position(aprox_v, car.position, t);
+		if detect_missed( car.position, car.segment, car.num)
+			disp('Miss?');
+			
+			%disp(toc(car.miss_time));
+			%if car.miss_time == 0
+			 %   car.miss_time = tic;
+			%end
+		end
+	end
+	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);
+			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);
+				if seg_plus ~= 0 && car.segment == 1
+					disp('Hoppar �ver missad givare 1/2');
+				else
+					car.position = new_position;
+					car.segment = car.segment + seg_plus;
+				end
+				%car.miss_time = uint64(0);
+			else
+				car.position = car.seg_len(car.segment);
+				%car.miss_time = uint64(0);
+			end
+		end
+	end
+	if car.new_lap == true
+		car.new_lap = false;
+		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;
+			car.seg_times(car.lap, car.segment) = toc(car.seg_tic);
+			car.seg_tic = tic;
+			car.lap_times(car.lap) = toc(car.lap_tic);
+			car.lap_tic = tic;
+			car.position = 0;
+
+			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
+end
+
+%% CALCULATE
+if car.running == true && car.automatic == true
+	car.car_constant = get_car_constant(car.num);
+	car.v = get_new_v(car.position, car.map);
+	car.track_u_constant = get_track_u_constant();
+	car.u = get_new_u(car.v, car.car_constant, car.track_u_constant);
+end
+
+%% CONTROLLER
+if car.running == true && car.automatic == false
+	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);
+end
+end
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 87e4e4e..a0a1f24 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -32,11 +32,12 @@ car1.segment = 1;
 car1.lap = 0;
 car1.lap_times = [];
 car1.seg_times = [];
+car1.last_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.map = Bana1;
 car1.approximation = [];
 car1.miss_probability = 0.0;
-%car1.miss_time = uint64(0);
 
 
 car2 = struct;
@@ -46,8 +47,11 @@ car2.segment = 1;
 car2.lap = 0;
 car2.lap_times = [];
 car2.seg_times = [];
+car2.last_seg_times = [];
 car2.position = 0;
 car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
+car2.map = Bana2;
+car2.miss_probability = 0.0;
 
 
 highToc = 0;
@@ -90,220 +94,19 @@ while 1
     
     figure(hf)
     drawnow
-    % disp(car1);
     
-    %% READ
-    if car1.running == true
-		[car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
-        if car1.new_check_point == true && rand < car1.miss_probability && car1.lap >= 4
-            disp('Hoppar �ver givare');
-            car1.new_check_point = false;
-            beep;
-        end
-    end
-	disp(car1);
-    if car2.running == true
-		[car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
-    end
-    disp(car2);
-    %% CHECK LAP AND CHECKPOINT (CAR 1)
-    if car1.running == true
-        if car1.lap ~= 0
-            if toc(car1.seg_tic) > 9.0
-                set_car_speed(1, 0);
-                set_car_speed(2, 0);
-                disp('Avåkning bil 1');
-                disp('J = Ja, N = Nej')
-                car1.response = input('Vill du fortsätta? [N] ', 's');
-                if car1.response == 'J'
-                    car1.seg_tic = tic;
-                else
-                    break;
-                end
-            end
-        end
-        %% CALC POSITION (CAR 1)
-        if car1.lap > 1
-            last_seg_times1 = car1.seg_times(car1.lap - 1, 1:9);
-            aprox_v = get_aprox_v(car1.segment + detect_missed(car1.position, car1.segment, 1), car1.lap, car1.seg_times, 1);
-            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 % 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;
-                if car1.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
-                    disp(car1);
-                    [new_position, seg_plus] = ...
-                            choose_position(car1.position, car1.segment, 1);
-                    if seg_plus ~= 0 && car1.segment == 1
-                        disp('Hoppar �ver missad givare 1/2');
-                    else
-                        car1.position = new_position;
-                        car1.segment = car1.segment + seg_plus;
-                    end
-                    %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
-            car1.new_lap = false;
-            beep;
-            disp('------------NEW LAP 1------------')
-            if car1.lap == 0
-                % dont save time for first lap
-                car1.segment = 1;
-                car1.lap = car1.lap + 1;
-                car1.seg_tic = tic;
-                car1.lap_tic = tic;
-            else
-            % beep;
-                car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
-                car1.seg_tic = tic;
-                car1.lap_times(car1.lap) = toc(car1.lap_tic);
-                car1.lap_tic = tic;
-                car1.position = 0;
-
-                display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))};
+	[car1, car1.stop] = do_car(car1);
+	[car2, car2.stop] = do_car(car2);
 
-                car1.segment = 1;
-                car1.lap = car1.lap + 1;
-            end
-        end
-    end
-    
-    %% CHECK LAP AND CHECKPOINT (CAR 2)
-    if car2.running == true
-        if car2.lap ~= 0
-            if toc(car2.seg_tic) > 9.0
-                set_car_speed(1, 0);
-                set_car_speed(2, 0);
-                disp('Avåkning bil 2');
-                disp('J = Ja, N = Nej')
-                car2.response = input('Vill du fortsätta? [N] ', 's');
-                if car2.response == 'J'
-                    car2.seg_tic = tic;
-                else
-                    break;
-                end
-            end
-        end
-        if car2.lap > 1
-            last_seg_times2 = car2.seg_times(car2.lap - 1, 1:9);
-            aprox_v = get_aprox_v(car2.segment + detect_missed(car2.position, car2.segment, 2), car2.lap, car2.seg_times, 2);
-            car2.position = get_position(aprox_v, car2.position, t);
-            if detect_missed( car2.position, car2.segment, 2)
-                disp('Miss?');
-                
-                %disp(toc(car2.miss_time));
-                %if car2.miss_time == 0
-                 %   car2.miss_time = tic;
-                %end
-            end
-        end
-        if car2.new_check_point == true
-            if car2.new_lap == false % choose_position krachar vid nytt varv (seg 10)
-                if car2.lap ~= 0
-                    car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
-                end
-                car2.segment = car2.segment + 1;
-                car2.seg_tic = tic;
-                disp(car2);
-                if car2.lap > 2 % S�kerhetsmarginal (B�r vara 1?)
-                    [new_position, seg_plus] = ...
-                            choose_position(car2.position, car2.segment, 2);
-                    if seg_plus ~= 0 && car2.segment == 1
-                        disp('Hoppar �ver missad givare 1/2');
-                    else
-                        car2.position = new_position;
-                        car2.segment = car2.segment + seg_plus;
-                    end
-                    %car2.miss_time = uint64(0);
-                else
-                    car2.position = car2.seg_len(car2.segment);
-                    %car2.miss_time = uint64(0);
-                end
-            end
-        end
-        if car2.new_lap == true
-            car2.new_lap = false;
-            disp('------------NEW LAP 2------------')
-            if car2.lap == 0
-                % dont save time for first lap
-                car2.segment = 1;
-                car2.lap = car2.lap + 1;
-                car2.seg_tic = tic;
-                car2.lap_tic = tic;
-            else
-                % beep;
-                car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
-                car2.seg_tic = tic;
-                car2.lap_times(car2.lap) = toc(car2.lap_tic);
-                car2.lap_tic = tic;
-                car2.position = 0;
-
-                display_data = {display_data, put_text(100, 48, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))};
-
-                car2.segment = 1;
-                car2.lap = car2.lap + 1;
-            end
-        end
-    end
-
-	%% CALCULATE (CAR 1)
-    if car1.running == true && car1.automatic == true
-		car1.car_constant = get_car_constant(1);
-		car1.v = get_new_v(car1.position, Bana1);
-		car1.track_u_constant = get_track_u_constant();
-		car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant);
-    end
-    
-    %% CALCULATE (CAR 2)
-    if car2.running == true && car2.automatic == true
-		car2.car_constant = get_car_constant(2);
-		car2.v = get_new_v(car2.position, Bana2);
-		car2.track_u_constant = get_track_u_constant();
-		car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant);
-    end    
-    
-	% TEMP VARIABLES FOR MANUAL CONTROL
-	mult = 100;
-	max = 55;
-	div = 55;
-
-	%% CONTROLLER (CAR 1)
-	if car1.running == true && car1.automatic == false
-		set_car_speed(1, mult * ((max - get_manual_speed(1)) / div));
+	if car1.stop == truej
+		disp('stopped by car 1');
+		break;
 	end
-
-	%% CONTROLLER (CAR 2)
-    if car2.running == true && car2.automatic == false
-		set_car_speed(2, mult * ((max - get_manual_speed(2)) / div));
-    end
-
-    %% EXECUTE
-    if car1.running == true && car1.automatic == true
-		set_car_speed(1, car1.u);
-    end
-    
-    if car2.running == true && car2.automatic == true
-   		set_car_speed(2, car2.u);
-    end
-    
+	if car2.stop == true
+		disp('stopped by car 2');
+		break;
+	end
+	
     %% DISPLAY
     
     %% END OF LOOP
@@ -320,7 +123,6 @@ while 1
             break;
         end
     end
-   
     send_data_to_display();
 end
  
-- 
cgit v1.2.1


From 2dc7f190f30129a741ecbad2bb8b243c7fa5e4c6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Wed, 13 Nov 2019 01:03:06 +0100
Subject: Add t as parameter

---
 Kod/bilbana/yc4/do_car.m | 2 +-
 Kod/bilbana/yc4/main.m   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 118aaec..cb9068f 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -1,4 +1,4 @@
-function [car, stop] = do_car(car)
+function [car, stop] = do_car(car, t)
 
 stop = false;
 
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index a0a1f24..cd512eb 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -95,8 +95,8 @@ while 1
     figure(hf)
     drawnow
     
-	[car1, car1.stop] = do_car(car1);
-	[car2, car2.stop] = do_car(car2);
+	[car1, car1.stop] = do_car(car1, t);
+	[car2, car2.stop] = do_car(car2, t);
 
 	if car1.stop == truej
 		disp('stopped by car 1');
-- 
cgit v1.2.1


From bf304b916aca475d6a026995b35a961ca18dcfc7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?David=20Thor=C3=A9n?= <davth346@student.liu.se>
Date: Wed, 13 Nov 2019 10:47:18 +0100
Subject: Fix functions after test

---
 Kod/bilbana/yc4/do_car.m           | 8 ++++----
 Kod/bilbana/yc4/get_car_constant.m | 2 +-
 Kod/bilbana/yc4/main.m             | 8 +++++---
 3 files changed, 10 insertions(+), 8 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index cb9068f..be5d3bd 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -1,4 +1,4 @@
-function [car, stop] = do_car(car, t)
+function [car, stop, display_data] = do_car(car, t, display_data)
 
 stop = false;
 
@@ -17,7 +17,7 @@ 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(strjoin{'Avåkning bil'; num2str(car.num)});
 			disp('J = Ja, N = Nej')
 			car.response = input('Vill du fortsätta? [N] ', 's');
 			if car.response == 'J'
@@ -30,7 +30,7 @@ if car.running == true
 	end
 	%% CALC POSITION
 	if car.lap > 1
-		car.last_seg_times = car.seg_times(car.lap - 1, 1:9);
+		% 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.lap, car.seg_times, car.num);
 		car.position = get_position(aprox_v, car.position, t);
 		if detect_missed( car.position, car.segment, car.num)
@@ -101,7 +101,7 @@ end
 
 %% CONTROLLER
 if car.running == true && car.automatic == false
-	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/get_car_constant.m b/Kod/bilbana/yc4/get_car_constant.m
index 5513721..e5e9801 100644
--- a/Kod/bilbana/yc4/get_car_constant.m
+++ b/Kod/bilbana/yc4/get_car_constant.m
@@ -15,7 +15,7 @@ switch(in_pos)
     case 1
         car_constant = 0.95;
     case 2
-        car_constant = 0.8;
+        car_constant = 1.2;
 end
 end
 
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index cd512eb..12f9dd1 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -38,6 +38,7 @@ car1.seg_len = [0.0 2.53 3.05 4.73 7.68 8.98 10.93 14.69 17.57];
 car1.map = Bana1;
 car1.approximation = [];
 car1.miss_probability = 0.0;
+car1.num = 1;
 
 
 car2 = struct;
@@ -52,6 +53,7 @@ car2.position = 0;
 car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
 car2.map = Bana2;
 car2.miss_probability = 0.0;
+car2.num = 2;
 
 
 highToc = 0;
@@ -95,10 +97,10 @@ while 1
     figure(hf)
     drawnow
     
-	[car1, car1.stop] = do_car(car1, t);
-	[car2, car2.stop] = do_car(car2, t);
+	[car1, car1.stop, display_data] = do_car(car1, t, display_data);
+	[car2, car2.stop, display_data] = do_car(car2, t, display_data);
 
-	if car1.stop == truej
+	if car1.stop == true
 		disp('stopped by car 1');
 		break;
 	end
-- 
cgit v1.2.1


From 37b3a88b1cf4adbf5e8321fb9034b4c46dc1d0ed Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Wed, 13 Nov 2019 11:08:17 +0100
Subject: Lade till sammanfattande komentar til do_car.m

---
 Kod/bilbana/yc4/do_car.m | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index be5d3bd..5146e83 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -1,7 +1,6 @@
 function [car, stop, display_data] = do_car(car, t, display_data)
-
+%DO_CAR Ger nya värden till struct car, avgör om koden ska stoppas samt hämtar displaydata.
 stop = false;
-
 if car.running == true
 	[car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
 	if car.new_check_point == true && rand < car.miss_probability && car.lap >= 4
-- 
cgit v1.2.1


From 985c17dc91bcaa5b1183466acb529cbc5ebaf183 Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Wed, 13 Nov 2019 11:14:24 +0100
Subject: =?UTF-8?q?Fixade=20disp=20av=C3=A5kning=20bil=20n=20(fortfarande?=
 =?UTF-8?q?=20utkomenterad)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/do_car.m | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 5146e83..6484a6a 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -1,5 +1,9 @@
 function [car, stop, display_data] = do_car(car, t, display_data)
 %DO_CAR Ger nya värden till struct car, avgör om koden ska stoppas samt hämtar displaydata.
+%{
+Input:
+    car: En struct med data för en bil
+%}
 stop = false;
 if car.running == true
 	[car.new_lap, car.new_check_point, car.time] = get_car_position(car.num);
@@ -16,7 +20,7 @@ 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(strjoin({'Avåkning bil', num2str(car.num)}));
 			disp('J = Ja, N = Nej')
 			car.response = input('Vill du fortsätta? [N] ', 's');
 			if car.response == 'J'
-- 
cgit v1.2.1


From 45fc020b41753ac885978f69c6699e447dc47ada Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Wed, 13 Nov 2019 11:40:08 +0100
Subject: =?UTF-8?q?Lade=20till=20f=C3=B6rklaring=20av=20I/O=20till=20do=5F?=
 =?UTF-8?q?car.m?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/do_car.m | 21 +++++++++++++++++++--
 Kod/bilbana/yc4/main.m   |  6 ++----
 2 files changed, 21 insertions(+), 6 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 6484a6a..2eec541 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -1,8 +1,25 @@
 function [car, stop, display_data] = do_car(car, t, display_data)
 %DO_CAR Ger nya värden till struct car, avgör om koden ska stoppas samt hämtar displaydata.
 %{
-Input:
-    car: En struct med data för en bil
+Input/Output:
+car - En struct med data för en viss bil    
+    car.num - Vilken bil det är
+    car.running - Om bilen körs eller inte
+    car.automatic - Om bilen körs automatiskt eller inte
+    car.segment - Bilens nuvarande segment
+    car.lap - Bilens nuvarande varv
+    car.lap_times - Bilens sparade varvtider
+    car.seg_times - Bilens sparade segmentstier
+    car.position - Bilens nuvarande placering på banan i meter från
+        start/mål
+    car.seg_len - Banans längd från start till givarna
+    car.map - Tabell med hastighetskoefficienter för alla positioner
+    car.miss_probability - Sannorlikheten för artificiellt introducerade
+        missade givare
+t - Längden (s) på nuvarande programcykel
+display_data - Buffer med den data som ska skickas till displayen vid nästa
+    anrop
+stop - Huruvida koden ska stoppas eller inte
 %}
 stop = false;
 if car.running == true
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 12f9dd1..8aad5a2 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -26,34 +26,32 @@ start_race(1)
 start_race(2)
 
 car1 = struct;
+car1.num = 1;
 car1.running = false;
 car1.automatic = true;
 car1.segment = 1;
 car1.lap = 0;
 car1.lap_times = [];
 car1.seg_times = [];
-car1.last_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.map = Bana1;
 car1.approximation = [];
 car1.miss_probability = 0.0;
-car1.num = 1;
 
 
 car2 = struct;
+car2.num = 2;
 car2.running = false;
 car2.automatic = true;
 car2.segment = 1;
 car2.lap = 0;
 car2.lap_times = [];
 car2.seg_times = [];
-car2.last_seg_times = [];
 car2.position = 0;
 car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
 car2.map = Bana2;
 car2.miss_probability = 0.0;
-car2.num = 2;
 
 
 highToc = 0;
-- 
cgit v1.2.1


From 3a421ed7caac62d659424f6631ae841f7ac29a4e Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Wed, 13 Nov 2019 12:12:00 +0100
Subject: =?UTF-8?q?Datatyper=20i=20f=C3=B6rklaringen=20till=20do=5Fcar.m?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/do_car.m | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 2eec541..504486a 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -3,17 +3,18 @@ function [car, stop, display_data] = do_car(car, t, display_data)
 %{
 Input/Output:
 car - En struct med data för en viss bil    
-    car.num - Vilken bil det är
+    car.num - Vilken bil det är (1 eller 2)
     car.running - Om bilen körs eller inte
     car.automatic - Om bilen körs automatiskt eller inte
     car.segment - Bilens nuvarande segment
     car.lap - Bilens nuvarande varv
-    car.lap_times - Bilens sparade varvtider
-    car.seg_times - Bilens sparade segmentstier
+    car.lap_times - Bilens sparade varvtider (1 x n matris)
+    car.seg_times - Bilens sparade segmentstier (n x m matris)
     car.position - Bilens nuvarande placering på banan i meter från
         start/mål
-    car.seg_len - Banans längd från start till givarna
-    car.map - Tabell med hastighetskoefficienter för alla positioner
+    car.seg_len - Banans längd från start till givarna (1 x 9 matris)
+    car.map - Tabell med hastighetskoefficienter för alla positioner (.mat
+    fil)
     car.miss_probability - Sannorlikheten för artificiellt introducerade
         missade givare
 t - Längden (s) på nuvarande programcykel
-- 
cgit v1.2.1


From 83c1ee0a3f2d57d887d38fafb74f4967271c4a84 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?David=20Thor=C3=A9n?= <davth346@student.liu.se>
Date: Wed, 13 Nov 2019 12:32:01 +0100
Subject: Add function to convert bytes -> num

---
 Kod/bilbana/yc4/display/get_num.m |   3 +
 Kod/bilbana/yc4/main.m            | 181 +++++++-------------------------------
 2 files changed, 34 insertions(+), 150 deletions(-)
 create mode 100644 Kod/bilbana/yc4/display/get_num.m

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/display/get_num.m b/Kod/bilbana/yc4/display/get_num.m
new file mode 100644
index 0000000..e90e0c7
--- /dev/null
+++ b/Kod/bilbana/yc4/display/get_num.m
@@ -0,0 +1,3 @@
+function num = get_num(bytes)
+num = bytes(1) + bytes(2) * 256;
+end
\ No newline at end of file
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 1c613a1..12f9dd1 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -11,17 +11,19 @@ display_data = {display_data clear_display()};
 pause(1);
 
 disp('Startar bilbanan. Avsluta med q.')
-hf=figure('position',[0 0 eps eps],'menubar','none');
+hf=figure('position', [0 0 eps eps], 'menubar', 'none');
 
 initialize_counters(1)
 initialize_counters(2)
 
+
 config_IOs
 
 load('bilbana\files\Bana1.mat')
+load('bilbana\files\Bana2.mat')
 
 start_race(1)
-% start_race(2)
+start_race(2)
 
 car1 = struct;
 car1.running = false;
@@ -30,10 +32,15 @@ car1.segment = 1;
 car1.lap = 0;
 car1.lap_times = [];
 car1.seg_times = [];
+car1.last_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.map = Bana1;
+car1.approximation = [];
+car1.miss_probability = 0.0;
+car1.num = 1;
+
 
-%{
 car2 = struct;
 car2.running = false;
 car2.automatic = true;
@@ -41,9 +48,13 @@ car2.segment = 1;
 car2.lap = 0;
 car2.lap_times = [];
 car2.seg_times = [];
+car2.last_seg_times = [];
 car2.position = 0;
 car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
-%}
+car2.map = Bana2;
+car2.miss_probability = 0.0;
+car2.num = 2;
+
 
 highToc = 0;
 
@@ -61,7 +72,7 @@ else
 	car1.running = false;
 end
 
-%{
+
 car2.response = input('Vill du köra bil 2? [N] ', 's');
 if car2.response == 'J'
 	car2.running = true;
@@ -72,7 +83,7 @@ elseif car2.response == 'M'
 else
 	car2.running = false;
 end
-%}
+
 
 %% MAIN LOOP
 while 1
@@ -86,146 +97,18 @@ while 1
     figure(hf)
     drawnow
     
-    %% READ
-    if car1.running == true
-		[car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
-    end
-	%{
-    if car2.running == true
-		[car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
-	end
-    %}
-    
-    %% CHECK LAP AND CHECKPOINT (CAR 1)
-    if car1.running == true
-        %% CALC POSITION (CAR 1)
-        if car1.lap > 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);
-        end
-        if car1.new_check_point == true
-            % beep;
-            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;
-            car1.position = car1.seg_len(car1.segment);
-        end
-        if car1.new_lap == true
-            if car1.lap == 0
-                % dont save time for first lap
-                car1.segment = 1;
-                car1.lap = car1.lap + 1;
-                car1.seg_tic = tic;
-                car1.lap_tic = tic;
-                continue;
-            end
-            beep;
-            car1.seg_times(car1.lap, car1.segment) = toc(car1.seg_tic);
-            car1.seg_tic = tic;
-            car1.lap_times(car1.lap) = toc(car1.lap_tic);
-            car1.lap_tic = tic;
-            car1.position = 0;
-
-            display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car1.lap), get_time_as_string(round(car1.lap_times(car1.lap) * 1000))}, ' '))};
-
-            car1.segment = 1;
-            car1.lap = car1.lap + 1;
-        end
-    end
-
-    %{
-    %% CHECK LAP AND CHECKPOINT (CAR 2)
-	if car2.running == true
-        %% CALC POSITION (CAR 2)
-        if car2.lap ~= 0
-            if car2.lap > 1
-                last_seg_times1 = car2.seg_times(car2.lap - 1, 1:9);
-                aprox_v = get_aprox_v(car2.segment, last_seg_times2);  %TODO ??
-                car2.position = get_position(aprox_v, car2.position, delta_t);
-            end
-        end
-        if car2.new_check_point == true
-            % beep;
-            if car2.lap ~= 0
-                car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
-            end
-            car2.segment = car2.segment + 1;
-            car2.seg_tic = tic;
-            car2.position = car2.seg_len(car2.segment);
-        end
-        if car2.new_lap == true
-            if car2.lap == 0
-                % dont save time for first lap
-                car2.segment = 1;
-                car2.lap = car2.lap + 1;
-                car2.seg_tic = tic;
-                car2.lap_tic = tic;
-                continue;
-            end
-            beep;
-            car2.seg_times(car2.lap, car2.segment) = toc(car2.seg_tic);
-            car2.seg_tic = tic;
-            car2.lap_times(car2.lap) = toc(car2.lap_tic);
-            car2.lap_tic = tic;
-            car2.position = 0;
-
-            display_data = {display_data, put_text(100, 32, 'L', strjoin({num2str(car2.lap), get_time_as_string(round(car2.lap_times(car2.lap) * 1000))}, ' '))};
-
-            car2.segment = 1;
-            car2.lap = car2.lap + 1;
-        end
-    end
-    %}
-
-	%% CALCULATE (CAR 1)
-    if car1.running == true && car1.automatic == true
-		car1.car_constant = get_car_constant(1);
-		car1.v = get_new_v(car1.position, Bana1);
-		car1.track_u_constant = get_track_u_constant();
-		car1.u = get_new_u(car1.v, car1.car_constant, car1.track_u_constant);
-    end
-    
-    %{
-    %% CALCULATE (CAR 2)
-	if car2.running == true && car2.automatic == true
-		car2.car_constant = get_car_constant(2);
-		car2.v = get_new_v(car2.position, Bana2);
-		car2.track_u_constant = get_track_u_constant();
-		car2.u = get_new_u(car2.v, car2.car_constant, car2.track_u_constant);
-	end
-    %}
-    
-	% TEMP VARIABLES FOR MANUAL CONTROL
-	mult = 100;
-	max = 55;
-	div = 55;
+	[car1, car1.stop, display_data] = do_car(car1, t, display_data);
+	[car2, car2.stop, display_data] = do_car(car2, t, display_data);
 
-	%% CONTROLLER (CAR 1)
-	if car1.running == true && car1.automatic == false
-		set_car_speed(1, mult * ((max - get_manual_speed(1)) / div));
+	if car1.stop == true
+		disp('stopped by car 1');
+		break;
 	end
-
-	%{
-	%% CONTROLLER (CAR 2)
-	if car2.running == true && car2.automatic == false
-		set_car_speed(2, _mult * ((_max - get_manual_speed(2)) / _div));
+	if car2.stop == true
+		disp('stopped by car 2');
+		break;
 	end
-    %}
-
-    %% EXECUTE
-    if car1.running == true && car1.automatic == true
-		set_car_speed(1, car1.u);
-    end
-    
-    %{
-    if car2.running == true && car2.automatic == true
-   		set_car_speed(2, car2.u);
-	end
-    %}
-    
+	
     %% DISPLAY
     
     %% END OF LOOP
@@ -237,33 +120,31 @@ while 1
                 highToc = t;     %Om det nya v�rdet p� pausen �r h�gre �n den tidigare h�gsta s� sparas det som den h�gsta
             end
             if t > 0.1
-                beep;
+                % beep;
             end
             break;
         end
     end
-   
     send_data_to_display();
 end
  
 %% END OF PROGRAM
 disp(highToc);
 disp(car1);
-% disp(car2);
+disp(car2);
 
 terminate(1);
-% terminate(2);
+terminate(2);
 
 matlabclient(3);
 
 %% DISPLAY GRAPHS
 
 if car1.running == true
-	graphs(car1.lap_times, 13.00, car1.seg_times, 1);
+	graphs(car1.lap_times, 13, car1.seg_times, 1);
 end
 
-%{
+
 if car2.running == true
 	graphs(car2.lap_times, 13, car2.seg_times, 2);
 end
-%}
-- 
cgit v1.2.1


From 2f0a6f442b8103a95839f0e37d5689ca9cf0fe71 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?David=20Thor=C3=A9n?= <davth346@student.liu.se>
Date: Wed, 13 Nov 2019 12:32:46 +0100
Subject: Working communication from display

---
 Kod/bilbana/yc4/display/get_response.m | 47 ++++++++++++++++++++++-----------
 Kod/bilbana/yc4/main.m                 | 48 +++++++++++++++++++++++++---------
 2 files changed, 67 insertions(+), 28 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/display/get_response.m b/Kod/bilbana/yc4/display/get_response.m
index 9714a43..1e3e6af 100644
--- a/Kod/bilbana/yc4/display/get_response.m
+++ b/Kod/bilbana/yc4/display/get_response.m
@@ -1,34 +1,51 @@
-function [ack, start_code, data] get_response(display_data)
+function [ack, start_code, responses] = get_response(display_data)
 % GET RESPONSE
 %	In-depth explanation
 %	[flag, display_data] = matlabclient(2)
 
 ack = false;
 start_code = '';
-data = [];
+bcc = display_data(length(display_data));
+responses = [];
 
-len = -1;
+pointer = 1;
 
-if display_data[0] == 6
+if display_data(pointer) == 6
 	ack = true;
 else
 	return
 end
 
-display_data[0] = [];
+if pointer > length(display_data)
+    return 
+end
 
-if display_data[0] == 17
+pointer = pointer + 1;
+if display_data(1) == 17
 	start_code = 'DC1';
-elseif display_data[0] == 18
+elseif display_data(1) == 18
 	start_code = 'DC2';
 end
 
-display_data[0] = [];
-
-len = display_data[0];
-
-while len > 0
-	
-end
-
+pointer = pointer + 1;
+% total length
+
+data = struct;
+while pointer < length(display_data) - 1  % last value is bcc
+    pointer = pointer + 1;
+    if display_data(pointer) ~= 27
+        % TODO: no ESC?
+    end
+    pointer = pointer + 1;
+    data.id = char(display_data(pointer));
+    
+    pointer = pointer + 1;
+    data.length = display_data(pointer);
+    if data.id == 'A'
+        pointer = pointer + 1;
+        data.data = display_data(pointer);
+    else
+        pointer = pointer + data.length;
+    end
+    responses = [responses, data];
 end
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 12f9dd1..4733055 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -5,10 +5,16 @@ cd display/ClientServerApp/Release
 !startServer
 cd ../../..
 
-global display_data;
-display_data = {};
-display_data = {display_data clear_display()};
-pause(1);
+display = struct;
+display.data = [clear_display()];
+display.out = 0;
+display.shm = 0;
+display.shm_interp = struct;
+display.shm_interp.ack = 0;
+display.shm_interp.start_code = '';
+display.shm_interp.data = [];
+display.last_send = tic;
+display.last_request = tic;
 
 disp('Startar bilbanan. Avsluta med q.')
 hf=figure('position', [0 0 eps eps], 'menubar', 'none');
@@ -16,7 +22,6 @@ hf=figure('position', [0 0 eps eps], 'menubar', 'none');
 initialize_counters(1)
 initialize_counters(2)
 
-
 config_IOs
 
 load('bilbana\files\Bana1.mat')
@@ -100,21 +105,38 @@ while 1
 	[car1, car1.stop, display_data] = do_car(car1, t, display_data);
 	[car2, car2.stop, display_data] = do_car(car2, t, display_data);
 
-	if car1.stop == true
+    if car1.stop == true
 		disp('stopped by car 1');
 		break;
-	end
-	if car2.stop == true
+    end
+    if car2.stop == true
 		disp('stopped by car 2');
 		break;
-	end
-	
-    %% DISPLAY
+    end
     
     %% END OF LOOP
     while 1                     %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder
-        pause(0.001);
+        % DISPLAY
+        display.send_delay = tic;
+        if toc(display.last_send) > display.send_interval
+            % send all queued data
+            if ~isempty(display.data)
+                [display.out] = matlabclient(1, get_smallpackage(display.data));
+                display.data = [];
+            end
+            display.last_send = 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);
+            
+            % request internal mem
+            matlabclient(1, hex2dec(['12'; '01'; '53'; '66']));
+        end
+        disp(strjoin{'display took additional ', num2str(toc(display.send_delay))});
+        % ACTUAL END OF LOOP
         t = toc(readTime);
+        
         if t > 0.07
             if t > highToc
                 highToc = t;     %Om det nya v�rdet p� pausen �r h�gre �n den tidigare h�gsta s� sparas det som den h�gsta
@@ -124,8 +146,8 @@ while 1
             end
             break;
         end
+        pause(0.001);
     end
-    send_data_to_display();
 end
  
 %% END OF PROGRAM
-- 
cgit v1.2.1


From c2ce165db06ac1e39221b5a8d788c0b49998111e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?David=20Thor=C3=A9n?= <davth346@student.liu.se>
Date: Wed, 13 Nov 2019 12:52:41 +0100
Subject: Add working display-code

---
 Kod/bilbana/yc4/display/get_response.m | 7 ++++++-
 Kod/bilbana/yc4/do_car.m               | 2 +-
 Kod/bilbana/yc4/main.m                 | 9 +++++----
 3 files changed, 12 insertions(+), 6 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/display/get_response.m b/Kod/bilbana/yc4/display/get_response.m
index 1e3e6af..0c77a00 100644
--- a/Kod/bilbana/yc4/display/get_response.m
+++ b/Kod/bilbana/yc4/display/get_response.m
@@ -5,9 +5,14 @@ function [ack, start_code, responses] = get_response(display_data)
 
 ack = false;
 start_code = '';
-bcc = display_data(length(display_data));
 responses = [];
 
+if isempty(display_data)
+    return
+end
+bcc = display_data(length(display_data));
+
+
 pointer = 1;
 
 if display_data(pointer) == 6
diff --git a/Kod/bilbana/yc4/do_car.m b/Kod/bilbana/yc4/do_car.m
index 504486a..f822395 100644
--- a/Kod/bilbana/yc4/do_car.m
+++ b/Kod/bilbana/yc4/do_car.m
@@ -104,7 +104,7 @@ if car.running == true
 			car.lap_tic = tic;
 			car.position = 0;
 
-			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))}, ' '))};
+			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;
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index cc15f34..d79194d 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -15,6 +15,7 @@ display.shm_interp.start_code = '';
 display.shm_interp.data = [];
 display.last_send = tic;
 display.last_request = tic;
+display.send_interval = 0.5;
 
 disp('Startar bilbanan. Avsluta med q.')
 hf=figure('position', [0 0 eps eps], 'menubar', 'none');
@@ -22,7 +23,6 @@ hf=figure('position', [0 0 eps eps], 'menubar', 'none');
 initialize_counters(1)
 initialize_counters(2)
 
-
 config_IOs
 
 load('bilbana\files\Bana1.mat')
@@ -60,6 +60,7 @@ car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
 car2.map = Bana2;
 car2.miss_probability = 0.0;
 
+t = 0;
 highToc = 0;
 
 %% ASK ACTIVE CARS
@@ -101,8 +102,8 @@ 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);
+	[car1, car1.stop, display.data] = do_car(car1, t, display.data);
+	[car2, car2.stop, display.data] = do_car(car2, t, display.data);
 
 	if car1.stop == true
 		disp('stopped by car 1');
@@ -132,7 +133,7 @@ while 1
             % request internal mem
             matlabclient(1, hex2dec(['12'; '01'; '53'; '66']));
         end
-        disp(strjoin{'display took additional ', num2str(toc(display.send_delay))});
+        % disp(strjoin({'display took additional ', num2str(toc(display.send_delay))}));
         % ACTUAL END OF LOOP
         t = toc(readTime);
         
-- 
cgit v1.2.1


From 974ec8c737647b2c46f6962992b95f739432a7d4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Wed, 13 Nov 2019 15:23:16 +0100
Subject: add control signal log

---
 Kod/bilbana/yc4/main.m | 8 ++++++++
 1 file changed, 8 insertions(+)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index d79194d..f7fc66b 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -119,6 +119,14 @@ while 1
         % DISPLAY
         display.send_delay = tic;
         if toc(display.last_send) > display.send_interval
+            % queue control signal
+            if car1.running && car1.automatic
+                display.data = [display.data, put_text(80, 16 + (16 * 1), 'L', num2str(car1.u))];
+            end
+            if car2.running && car2.automatic
+                display.data = [display.data, put_text(80, 16 + (16 * 2), 'L', num2str(car2.u))];
+            end
+            
             % send all queued data
             if ~isempty(display.data)
                 [display.out] = matlabclient(1, get_smallpackage(display.data));
-- 
cgit v1.2.1


From f78a9877d7efe5c4b1bb6fa6b5ab9ddbb8a833ca Mon Sep 17 00:00:00 2001
From: Mattias Uvesten <matuv053@student.liu.se>
Date: Wed, 13 Nov 2019 15:32:42 +0100
Subject: move text location

---
 Kod/bilbana/yc4/main.m | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index f7fc66b..109d8b4 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -121,10 +121,10 @@ while 1
         if toc(display.last_send) > display.send_interval
             % queue control signal
             if car1.running && car1.automatic
-                display.data = [display.data, put_text(80, 16 + (16 * 1), 'L', num2str(car1.u))];
+                display.data = [display.data, put_text(20, 16 + (16 * 1), 'L', num2str(car1.u))];
             end
             if car2.running && car2.automatic
-                display.data = [display.data, put_text(80, 16 + (16 * 2), 'L', num2str(car2.u))];
+                display.data = [display.data, put_text(20, 16 + (16 * 2), 'L', num2str(car2.u))];
             end
             
             % send all queued data
-- 
cgit v1.2.1


From a84a3c9a66347c9fe9c5d81b232ee8081d4498ca Mon Sep 17 00:00:00 2001
From: Mattias Uvesten <matuv053@student.liu.se>
Date: Wed, 13 Nov 2019 17:52:13 +0100
Subject: =?UTF-8?q?Funkar=20f=C3=B6r=20vit=2062=20p=C3=A5=20bana=202?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/yc4/get_car_constant.m | 2 +-
 Kod/bilbana/yc4/main.m             | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/get_car_constant.m b/Kod/bilbana/yc4/get_car_constant.m
index e5e9801..5513721 100644
--- a/Kod/bilbana/yc4/get_car_constant.m
+++ b/Kod/bilbana/yc4/get_car_constant.m
@@ -15,7 +15,7 @@ switch(in_pos)
     case 1
         car_constant = 0.95;
     case 2
-        car_constant = 1.2;
+        car_constant = 0.8;
 end
 end
 
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 8aad5a2..c0ed11e 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -53,7 +53,7 @@ car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
 car2.map = Bana2;
 car2.miss_probability = 0.0;
 
-
+t = 0;
 highToc = 0;
 
 %% ASK ACTIVE CARS
-- 
cgit v1.2.1


From 39117fca7d32e4930867f4caf3100bf9df64ac33 Mon Sep 17 00:00:00 2001
From: Mattias Uvesten <matuv053@student.liu.se>
Date: Wed, 13 Nov 2019 18:07:08 +0100
Subject: missar just nu givare med 0.05 sannolikhet

---
 Kod/bilbana/yc4/main.m | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index c0ed11e..3c1b445 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -51,7 +51,7 @@ car2.seg_times = [];
 car2.position = 0;
 car2.seg_len = [0.0 2.53 3.05 4.92 7.60 8.84 10.65 14.68 17.76];
 car2.map = Bana2;
-car2.miss_probability = 0.0;
+car2.miss_probability = 0.05;
 
 t = 0;
 highToc = 0;
@@ -82,7 +82,7 @@ else
 	car2.running = false;
 end
 
-
+ref_time = 13;
 %% MAIN LOOP
 while 1
     readTime = tic;
@@ -139,10 +139,10 @@ matlabclient(3);
 %% DISPLAY GRAPHS
 
 if car1.running == true
-	graphs(car1.lap_times, 13, car1.seg_times, 1);
+	graphs(car1.lap_times, ref_time, car1.seg_times, 1);
 end
 
 
 if car2.running == true
-	graphs(car2.lap_times, 13, car2.seg_times, 2);
+	graphs(car2.lap_times, ref_time, car2.seg_times, 2);
 end
-- 
cgit v1.2.1


From 74f1d443644c8654d9fbc3bf48f5d3b87e48c199 Mon Sep 17 00:00:00 2001
From: Albin <albwa833@student.liu.se>
Date: Thu, 14 Nov 2019 09:35:15 +0100
Subject: =?UTF-8?q?V=C3=A4lj=20ref-time?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Kod/bilbana/Graph/graphs_test.m | 12 +++++++++---
 Kod/bilbana/yc4/main.m          | 10 +++++++++-
 2 files changed, 18 insertions(+), 4 deletions(-)

(limited to 'Kod')

diff --git a/Kod/bilbana/Graph/graphs_test.m b/Kod/bilbana/Graph/graphs_test.m
index 955aeee..248e6da 100644
--- a/Kod/bilbana/Graph/graphs_test.m
+++ b/Kod/bilbana/Graph/graphs_test.m
@@ -14,6 +14,12 @@ ref_lap_time = 14;
 %% Actual test
 graphs(car1.lap_times,ref_lap_time,car1.seg_times,5)
 %}
-position = 2.54;
-segment = 2;
-detect_missed(position,segment,1)
\ No newline at end of file
+ref_time = input('Vilken referenstid ska användas? [13] ', 's');
+ref_time = str2double(ref_time);
+if isnan(ref_time)
+    ref_time = 13;
+elseif not(isreal(ref_time))
+    ref_time = 13;
+end
+disp(ref_time)
+disp(ref_time*2)
diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 3c1b445..56b0014 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -81,7 +81,15 @@ elseif car2.response == 'M'
 else
 	car2.running = false;
 end
-
+%{
+ref_time = input('Vilken referenstid ska användas? [13] ', 's');
+ref_time = str2double(ref_time);
+if isnan(ref_time)
+    ref_time = 13;
+elseif not(isreal(ref_time))
+    ref_time = 13;
+end
+%}
 ref_time = 13;
 %% MAIN LOOP
 while 1
-- 
cgit v1.2.1


From 50ed829577446a0ae66395a1c20f47e79282d4cd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Gustav=20S=C3=B6rn=C3=A4s?= <gusso230@student.liu.se>
Date: Wed, 13 Nov 2019 15:55:30 +0100
Subject: dont send request for internal mem

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

(limited to 'Kod')

diff --git a/Kod/bilbana/yc4/main.m b/Kod/bilbana/yc4/main.m
index 109d8b4..20bc4ee 100644
--- a/Kod/bilbana/yc4/main.m
+++ b/Kod/bilbana/yc4/main.m
@@ -139,7 +139,7 @@ while 1
             [display.shm_interp.ack, display.shm_interp.start_code, display.shm_interp.data] = get_response(display.shm);
             
             % request internal mem
-            matlabclient(1, hex2dec(['12'; '01'; '53'; '66']));
+            % matlabclient(1, hex2dec(['12'; '01'; '53'; '66']));
         end
         % disp(strjoin({'display took additional ', num2str(toc(display.send_delay))}));
         % ACTUAL END OF LOOP
-- 
cgit v1.2.1