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function [car, halt, 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:
car - En struct med data för en viss bil
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 (1 x v matris)
car.seg_times - Bilens sparade segmentstier (v x 9 matris)
car.seg_constant_list = []; % TODO Sparar alla seg_constants som
använts (v x 9 matris)
car.position - Bilens nuvarande placering på banan i meter från
start/mål
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
car.lap_constants = [1,1,1,1,1,1,1,1,1]; % TODO seg_constanst för
nuvarande varv. Skapas av gov_set() vid nytt varv
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
%}
halt = 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
if car.stopped == true
return
end
%% READ INPUT FROM TRACK
if car.running == true
if car.lap ~= 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)}));
disp('J = Ja, N = Nej')
car.response = input('Vill du fortsätta? [N] ', 's');
if car.response == 'J'
car.seg_tic = tic;
else
halt = 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.pos_at), car.lap, car.seg_times, car.num, car.seg_len);
car.position = get_position(aprox_v, car.position, t);
if detect_missed( car.position, car.segment, car.num, car.pos_at)
disp('Miss?');
%disp(toc(car.miss_time));
%if car.miss_time == 0
% car.miss_time = tic;
%end
end
end
if car.stopping == true
% CHECK IF CAR IS AT THE END OF TRACK
if car.position > (car.map(80, 1) / 100) - 0.8 % 80cm
disp(car.position)
disp((car.map(80, 1) / 100) - 300)
set_car_speed(car.num, 0);
car.stopped = true;
return
end
end
%% 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);
end
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;
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.segment ~= 2
car.seg_times(car.lap, car.segment - seg_plus - 1) = 0;
disp(car.seg_times(car.lap, :))
disp(seg_plus)
end
%car.miss_time = uint64(0);
else
car.position = car.pos_at(car.segment);
%car.miss_time = uint64(0);
end
end
end
%% NEW LAP
if car.new_lap == true
disp('NEW LAP')
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);
end
car.seg_tic = tic;
car.lap_times(car.lap) = toc(car.lap_tic);
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;
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
end
%% CALCULATE
if car.running == true && car.automatic == true
car.v = get_new_v(car.position, car.map);
car.u = get_new_u(car.v, car.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
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