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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
load('bilbana\files\Bana1.mat')
load('bilbana\files\Bana2.mat')
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 = [];
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.approximation = [];
car1.miss_probability = 0.1;
%car1.miss_time = uint64(0);
car2 = struct;
car2.running = false;
car2.automatic = true;
car2.segment = 1;
car2.lap = 0;
car2.lap_times = [];
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];
highToc = 0;
%% 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
readTime = tic;
%% PRE-LOOP
if strcmp(get(hf,'currentcharacter'),'q')
close(hf)
break
end
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
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.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
disp('------------NEW LAP------------')
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
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
disp('------------NEW LAP------------')
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, 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.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));
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
while 1 %Whileloop med paus som k�rs till pausen �verskridit 0.07 sekunder
pause(0.001);
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
end
if t > 0.1
% beep;
end
break;
end
end
send_data_to_display();
end
%% END OF PROGRAM
disp(highToc);
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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