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%% INIT
% INIT DISPLAY
addpath display/ClientServerApp/Release
cd display/ClientServerApp/Release
!startServer
cd ../../..
global display_data;
display_data = {};
display_data = {display_data clear_display()};
pause(1);
disp('Startar bilbanan. Avsluta med q.')
hf=figure('position',[0 0 eps eps],'menubar','none');
initialize_counters(1)
initialize_counters(2)
config_IOs
start_race(1)
start_race(2)
car1 = struct;
car1.running = false;
car1.automatic = true;
car1.segment = 1;
car1.lap = 0;
car1.lap_times = [];
car1.seg_times = [];
car2 = struct;
car2.running = false;
car2.automatic = true;
car2.segment = 1;
car2.lap = 0;
car2.lap_times = [];
car2.seg_times = [];
tocs = [];
%% ASK ACTIVE CARS
disp('J = Ja (automatiskt), M = Ja (manuellt), N = Nej');
car1.response = input('Vill du köra bil 1? [N] ', 's');
if car1.response == 'J'
car1.running = true;
car1.automatic = true;
elseif car1.response == 'M'
car1.running = true;
car1.automatic = false;
else
car1.running = false;
end
car2.response = input('Vill du köra bil 2? [N] ', 's');
if car2.response == 'J'
car2.running = true;
car2.automatic = true;
elseif car2.response == 'M'
car2.running = true;
car2.automatic = false;
else
car2.running = false;
end
%% MAIN LOOP
while 1
tic;
%% PRE-LOOP
if strcmp(get(hf,'currentcharacter'),'q')
close(hf)
break
end
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
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;
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;
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
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;
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;
disp('continuing');
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;
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
%% CALCULATE (CAR 1)
if car1.running == true && car1.automatic == true
car1.car_constant = get_car_constant(1);
car1.v = get_new_v(car1.segment);
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.segment);
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));
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
%% DISPLAY
%% END OF LOOP
pause(0.1)
tocs(end + 1) = toc;
send_data_to_display();
end
%% END OF PROGRAM
disp(tocs);
disp(car1);
disp(car2);
terminate(1);
terminate(2);
matlabclient(3);
%% DISPLAY GRAPHS
if car1.running == true
graphs(car1.lap_times, 13, car1.seg_times, 1);
end
if car2.running == true
graphs(car2.lap_times, 13, car2.seg_times, 2);
end
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