trunk/src/breve/Demo-2wheels.tz

   1
   2 @use Celdas.
   3
   4 Controller DemoController.
   5
   6 CeldasControl : DemoController {
   7         + variables:
   8                 sensor (object).
   9                 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                 blWheel = (vehicle add-wheel at (0, 0, -1.5)).
  24                 brWheel = (vehicle add-wheel at (0, 0, 1.5)).
  25
  26                 self set-global-velocity to 15.0.
  27
  28                 sensor = (vehicle add-sensor at (2.0, .4, 0)).
  29
  30         + to set-global-velocity to velocity (float):
  31
  32                 brWheel set-velocity to velocity.
  33                 blWheel set-velocity to velocity.
  34
  35         + to get-global-velocity:
  36
  37                 return ((brWheel get-velocity)
  38                         + (blWheel get-velocity)) / 2.
  39
  40         + to turn-right with-velocity velocity (float):
  41
  42                 brWheel set-velocity to velocity.
  43                 blWheel set-velocity to -velocity.
  44
  45         + to turn-left with-velocity velocity (float):
  46
  47                 blWheel set-velocity to velocity.
  48                 brWheel set-velocity to -velocity.
  49
  50         + to get-sensor-value:
  51
  52                 return (sensor get-sensor-value).
  53
  54
  55         + to post-iterate:
  56                 value (float).
  57                 bl, br (float).
  58
  59                 value = self get-sensor-value.
  60
  61                 if value < 1:       self set-global-velocity to ((self get-global-velocity) + 1).
  62                 else if value > 5: self turn-right with-velocity 15.0.
  63                 #else if value > 10: self set-global-velocity to ((self get-global-velocity) - 1).
  64
  65                 bl = (blWheel get-velocity).
  66                 br = (brWheel get-velocity).
  67                 print "sensor: $value, br: $br, bl: $bl".
  68
  69 }