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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
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