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

   1
   2 @use Celdas.
   3
   4 Controller DemoController.
   5
   6 CeldasVehicle : MyVehicle {
   7
   8         + variables:
   9                 sensor (object).
  10                 flWheel, frWheel, blWheel, brWheel (object).
  11
  12         + to init at location = (0, 0, 0) (vector):
  13
  14                 self move to location.
  15
  16                 blWheel = (self add-wheel at (2, 0, -1.5)).
  17                 brWheel = (self add-wheel at (2, 0, 1.5)).
  18                 blWheel = (self add-wheel at (-2, 0, -1.5)).
  19                 brWheel = (self add-wheel at (-2, 0, 1.5)).
  20
  21                 #blWheel set-velocity to 15.0.
  22                 #brWheel set-velocity to 15.0.
  23
  24                 sensor = (self add-sensor at (2.0, .4, 0)).
  25
  26         + to set-global-velocity to velocity (float):
  27
  28                 brWheel set-velocity to velocity.
  29                 frWheel set-velocity to velocity.
  30                 blWheel set-velocity to velocity.
  31                 flWheel set-velocity to velocity.
  32
  33         + to get-global-velocity:
  34
  35                 return ((brWheel get-velocity) + (frWheel get-velocity)
  36                         + (blWheel get-velocity) + (flWheel set-velocity)) / 4.
  37
  38         + to turn-right with-velocity velocity (float):
  39
  40                 brWheel set-velocity to velocity.
  41                 frWheel set-velocity to velocity.
  42                 blWheel set-velocity to -velocity.
  43                 flWheel set-velocity to -velocity.
  44
  45         + to turn-left with-velocity velocity (float):
  46
  47                 blWheel set-velocity to velocity.
  48                 flWheel set-velocity to velocity.
  49                 brWheel set-velocity to -velocity.
  50                 frWheel set-velocity to -velocity.
  51
  52         + to get-sensor-value:
  53
  54                 return (sensor get-sensor-value).
  55
  56 }
  57
  58 CeldasControl : DemoController {
  59         + variables:
  60                 vehicle (object).
  61
  62                 n (int).
  63
  64         + to init:
  65                 for n=0, n<10, n++:
  66                         new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
  67
  68                 vehicle = new MyVehicle.
  69                 self watch item vehicle.
  70
  71         + to post-iterate:
  72                 value (float).
  73
  74                 value = vehicle get-sensor-value.
  75
  76                 if value < 1:       vehicle set-global-velocity to ((vehicle get-global-velocity) + 1).
  77                 else if value > 10: vehicle set-global-velocity to ((vehicle get-global-velocity) - 1).
  78
  79                 print value.
  80
  81 }