Program v Matlab-u

xs=0.5;
ys=0.5;
r=0.1;
th=2.5;
n=9;
tc=[0.08, 0.08, 0.1, 0.15, 0.20, 0.15, 0.10, 0.20];
a=10;
        for k=1:n;
                x(k)=xs+r*cos(th*(k-1)/(n-1));
                y(k)=ys+r*sin(th*(k-1)/(n-1));
        end

% pospeski

ax(1)=sign(x(2)-x(1))*a;
ax(n)=sign(x(n)-x(n-1))*a;

% "casi pospeskov in pojemkov

tx(1)=tc(1)-sqrt(tc(1)^2 + 2 * (x(2)-x(1))/ax(1));
tx(n)=tc(n-1)-sqrt(tc(n-1)^2 + 2 * (x(n)-x(n-1))/ax(1));

% hitrosti

vx(1)=(x(2)-x(1))/(tc(1)-tx(1)/2);
vx(n-1)=(x(n)-x(n-1))/(tc(n-1)-tx(n)/2);

        for k=2:(n-2);
                vx(k)=(x(k+1)-x(k))/tc(k);
        end;

% vmesni cleni

        for k=2:(n-1);
                ax(k)=sign(vx(k)-vx(k-1)) * a;
        end;

% vmesni casi

        for k=2:(n-1);
                tx(k)=(vx(k)-vx(k-1))/ax(k);
        end;

% "casi enakomernega gibanja
txe(1)=tc(1)-tx(1)-tx(2)/2;
txe(n-1)=tc(n-1)-tx(n)-tx(n-1)/2;

        for k=2:(n-2);
                txe(k)=tc(k)-tx(k+1)/2-tx(k)/2;
        end;

% izracun

xizr(1)=x(1);
xizr(2)=xizr(1)+ax(1)*tx(1)^2/2+vx(1) ....
         *(txe(1)+tx(1)/2)+(tx(2)/2)^2*ax(2)/2;

  for k=3:(n-1);
   xizr(k)=xizr(k-1)+ax(k-1)*(tx(k-1)/2)^2/2+vx(k-1)* ...
        (txe(k-1)+tx(k-1)/2)+(tx(k)/2)^2*ax(k)/2;   
  end;

xizr(n)=xizr(n-1)+ax(n-1)*(tx(n-1)/2)^2/2+vx(n-1)* ...
        (txe(n-1)+tx(n-1)/2)+(tx(n))^2*ax(n)/2;

%napaka

napx=(x-xizr)./x;



% pospeski

ay(1)=sign(y(2)-y(1))*a;
ay(n)=sign(y(n)-y(n-1))*a;

% casi pospeskov in pojemkov

ty(1)=tc(1)-sqrt(tc(1)^2 + 2 * (y(2)-y(1))/ay(1));
ty(n)=tc(n-1)-sqrt(tc(n-1)^2 + 2 * (y(n)-y(n-1))/ay(1));

% hitrosti

vy(1)=(y(2)-y(1))/(tc(1)-ty(1)/2);
vy(n-1)=(y(n)-y(n-1))/(tc(n-1)-ty(n)/2);

        for k=2:(n-2);
                vy(k)=(y(k+1)-y(k))/tc(k);
        end;

% vmesni cleni

        for k=2:(n-1);
                ay(k)=sign(vy(k)-vy(k-1)) * a;
        end;

% vmesni casi

        for k=2:(n-1);
                ty(k)=(vy(k)-vy(k-1))/ay(k);
        end;

% casi enakomernega gibanja
tye(1)=tc(1)-ty(1)-ty(2)/2;
tye(n-1)=tc(n-1)-ty(n)-ty(n-1)/2;

        for k=2:(n-2);
                tye(k)=tc(k)-ty(k+1)/2-ty(k)/2;
        end;

% izracun

yizr(1)=y(1);
yizr(2)=yizr(1)+ay(1)*ty(1)^2/2+vy(1)*(tye(1)+ty(1)/2)+(ty(2)/2)^2*ay(2)/2;

  for k=3:(n-1);
   yizr(k)=yizr(k-1)+ay(k-1)*(ty(k-1)/2)^2/2+vy(k-1) ...
            *(tye(k-1)+ty(k-1)/2)+(ty(k)/2)^2*ay(k)/2;   
  end;

yizr(n)=yizr(n-1)+ay(n-1)*(ty(n-1)/2)^2/2+vy(n-1)...
        *(tye(n-1)+ty(n-1)/2)+(ty(n))^2*ay(n)/2;

%napaka

napy=(y-yizr)./y;