trunk/src/breve/Demo-multi-sensor.tz

   1
   2 @use CeldasMultiSensor.
   3
   4 Controller DemoController.
   5
   6 CeldasControl : DemoController {
   7         + variables:
   8                 leftWheel, rightWheel (object).
   9                 leftSensor, rightSensor (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, 2, 5).
  22
  23                 leftWheel = (vehicle add-wheel at (-2, 0, -1.5)).
  24                 rightWheel = (vehicle add-wheel at (-2, 0, 1.5)).
  25                 vehicle add-wheel at (1, 0, 0).
  26
  27                 leftWheel set-velocity to 15.0.
  28                 rightWheel set-velocity to 15.0.
  29
  30                 leftSensor = (vehicle add-sensor at (2.0, .4, 0)).
  31                 rightSensor = (vehicle add-sensor at (2.0, .4, 0)).
  32
  33         + to post-iterate:
  34                 valueL, valueR (float).
  35
  36                 valueL = leftSensor get-sensor-value.
  37                 valueR = rightSensor get-sensor-value.
  38
  39                 if valueL < 2: leftWheel set-velocity to ((leftWheel get-velocity) + 1).
  40                 else:          leftWheel set-velocity to ((leftWheel get-velocity) - 1).
  41
  42                 if valueL < 2: rightWheel set-velocity to ((rightWheel get-velocity) + 1).
  43                 else:          rightWheel set-velocity to ((rightWheel get-velocity) - 1).
  44
  45                 print "leftSensor = $valueL -- rightSensor = $valueR".
  46
  47 }