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
|
%% 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.last_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.map = Bana1;
car1.approximation = [];
car1.miss_probability = 0.0;
car2 = struct;
car2.running = false;
car2.automatic = true;
car2.segment = 1;
car2.lap = 0;
car2.lap_times = [];
car2.seg_times = [];
car2.last_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];
car2.map = Bana2;
car2.miss_probability = 0.0;
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
[car1, car1.stop] = do_car(car1);
[car2, car2.stop] = do_car(car2);
if car1.stop == truej
disp('stopped by car 1');
break;
end
if car2.stop == true
disp('stopped by car 2');
break;
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
|
