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
|
%% 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.segment = 1;
car1.lap = 0;
car1.lap_times = [];
car1.seg_times = [];
car1Table = struct2table(car1);
car2 = struct;
car2.segment = 1;
car2.lap = 0;
car2.lap_times = [];
car2.seg_times = [];
highToc = 0;
%% MAIN LOOP
while 1
readTime = tic;
%% PRE-LOOP
if strcmp(get(hf,'currentcharacter'),'q')
close(hf)
break
end
figure(hf)
drawnow
%% READ
[car1.new_lap, car1.new_check_point, car1.time] = get_car_position(1);
[car2.new_lap, car2.new_check_point, car2.time] = get_car_position(2);
%% CHECK LAP AND CHECKPOINT (CAR 1)
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
%% CHECK LAP AND CHECKPOINT (CAR 2)
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
%% CALCULATE (CAR 1)
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);
%% CALCULATE (CAR 2)
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);
%% EXECUTE
set_car_speed(1, car1.u);
set_car_speed(2, car2.u);
%% DISPLAY
%% END OF LOOP
while 1 %Whileloop med paus som körs till pausen överskridit 0.07 sekunder
pause(0.01)
t = toc(readTime)
if t > 0.07
if t > highToc
highToc = s; %Om det nya värdet på pausen är högre än den tidigare högsta så sparas det som den högsta
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
graphs(car1.lap_times, 13, car1.seg_times, 1);
graphs(car2.lap_times, 13, car2.seg_times, 2);
%% SAVE VARIABLES FROM CAR STRUCT
dateStr = datestr(now, 'dd-mmm-yyyy');
timeStr = datestr(now, 'HH.MM');
strCsv = [dateStr,'_',timeStr, '.csv'];
filename = join(strCsv);
writetable(car1Table, filename);
|
