1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
|
%% 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.segment = 1;
car1.lap = 0;
car1.lap_times = [];
car1.seg_times = [];
car2 = struct;
car2.running = false;
car2.segment = 1;
car2.lap = 0;
car2.lap_times = [];
car2.seg_times = [];
tocs = [];
%% ASK ACTIVE CARS
car1.running = (prompt('Vill du köra bil 1? (J/N) [N]', 's') == 'J')
car2.running = (prompt('Vill du köra bil 2? (J/N) [N]', 's') == 'J')
%% 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;
car1.seg_times(car1.lap, 1) = 0;
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;
car2.seg_times(car2.lap, 1) = 0;
end
end
%% CALCULATE (CAR 2)
if car1.running == 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.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
%% EXECUTE
if car1.running == true
set_car_speed(1, car1.u);
end
if car2.running == 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
graphs(car1.lap_times, 13, car1.seg_times, 1);
graphs(car2.lap_times, 13, car2.seg_times, 2);
|
