trunk/src/breve/Demo-4wheels.tz

   1
   2 @use Celdas.
   3
   4 Controller DemoController.
   5
   6 CeldasControl : DemoController {
   7         + variables:
   8                 sensor (object).
   9                 flWheel, frWheel, blWheel, brWheel (object).
  10                 vehicle (object).
  11
  12                 n (int).
  13
  14         + to init:
  15                 for n=0, n<10, n++:
  16                         new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
  17
  18                 vehicle = new CeldasVehicle.
  19                 self watch item vehicle.
  20
  21                 vehicle move to (10, 0.8, 5).
  22
  23                 flWheel = (vehicle add-wheel at (2, 0, -1.5)).
  24                 frWheel = (vehicle add-wheel at (2, 0, 1.5)).
  25                 blWheel = (vehicle add-wheel at (-2, 0, -1.5)).
  26                 brWheel = (vehicle add-wheel at (-2, 0, 1.5)).
  27
  28                 self set-global-velocity to 15.0.
  29
  30                 sensor = (vehicle add-sensor at (2.0, .4, 0)).
  31
  32         + to set-global-velocity to velocity (float):
  33
  34                 brWheel set-velocity to velocity.
  35                 frWheel set-velocity to velocity.
  36                 blWheel set-velocity to velocity.
  37                 flWheel set-velocity to velocity.
  38
  39         + to get-global-velocity:
  40
  41                 return ((brWheel get-velocity) + (frWheel get-velocity)
  42                         + (blWheel get-velocity) + (flWheel set-velocity)) / 4.
  43
  44         + to turn-right with-velocity velocity (float):
  45
  46                 brWheel set-velocity to velocity.
  47                 frWheel set-velocity to velocity.
  48                 blWheel set-velocity to -velocity.
  49                 flWheel set-velocity to -velocity.
  50
  51         + to turn-left with-velocity velocity (float):
  52
  53                 blWheel set-velocity to velocity.
  54                 flWheel set-velocity to velocity.
  55                 brWheel set-velocity to -velocity.
  56                 frWheel set-velocity to -velocity.
  57
  58         + to get-sensor-value:
  59
  60                 return (sensor get-sensor-value).
  61
  62
  63         + to post-iterate:
  64                 value (float).
  65                 fl, fr, bl, br (float).
  66
  67                 value = self get-sensor-value.
  68
  69                 if value < 1:       self set-global-velocity to ((self get-global-velocity) + 1).
  70                 else if value > 5: self turn-right with-velocity 15.0.
  71                 #else if value > 10: self set-global-velocity to ((self get-global-velocity) - 1).
  72
  73                 fl = (flWheel get-velocity).
  74                 bl = (blWheel get-velocity).
  75                 fr = (frWheel get-velocity).
  76                 br = (brWheel get-velocity).
  77                 print "sensor: $value, fr: $fr, fl: $fl, br: $br, bl: $bl".
  78
  79 }