läget mannen :)

get_audio.m

@@ -17,9 +17,6 @@ if isempty(fs)
 end
 p = bass.Audio();
 
-
-
-pause(0.1)
 lastIndex = p.Audio.lastFrameIndex;
 diffIndex = lastIndex - lastLastIndex;
 tempLeft = cell2mat(p.Audio.left);
@@ -37,4 +34,5 @@ signal = [tempLeft, tempRight];
 
 %bass.Stop();
 
+
 end
\ No newline at end of file

startup_rob.m

@@ -5,4 +5,4 @@ global bass
 addpath(genpath('~/openrobots/lib/matlab/'));
 client = genomix.client('turtlebot1-wifi:8080');
 bass = client.load('bass');
-bass.Acquire('-a',24414,2048,80);
\ No newline at end of file
+bass.Acquire('-a',24414,2048,2);
\ No newline at end of file

track_audio.m

@@ -11,7 +11,7 @@ dt = chunks/fs;
 
 %% Setup objects
 % Initialize localization models using braodband and subband settings
-dObj   = dataObject([],fsHz,10,2);
+dObj   = dataObject([],fs,10,2);
 
 % Settings for subband approach
 par_sub = genParStruct('cc_bBroadband',0,'cc_wSizeSec',winSec,...
@@ -50,7 +50,7 @@ addpath('./ekfukf-toolbox');
 
 figure(1)
 
-N = 100; % The number of steps to run this stuff.
+N = 1; % The number of steps to run this stuff.
 
 % Initialize posterior mean and covariance
 posteriorMean = zeros(size(A, 1), N);
@@ -80,7 +80,7 @@ for l = 1:N
     
     posteriorMean(:, l) = x;
     posteriorCovariance(:, :, l) = P;
-    pause(max(,0))
+    %pause(max0))
     t_old = t_new;
 end