Evitamos memory leaks.

[z.facultad/75.68/celdas.git] / trunk / src / breve / robot / Celdas-2-6.tz

diff --git a/trunk/src/breve/robot/Celdas-2-6.tz b/trunk/src/breve/robot/Celdas-2-6.tz
index e0d352c3ac30664361870dfca6b5a5a46532bfc8..9756afe1a352e201635a80ca5d911fccf340fe0d 100644 (file)
--- a/trunk/src/breve/robot/Celdas-2-6.tz
+++ b/trunk/src/breve/robot/Celdas-2-6.tz
@@ -160,8 +160,12 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
        % at higher speeds.\r
         +variables:\r
             lSensor, rSensor, fSensor, bSensor (object).\r
        % at higher speeds.\r
         +variables:\r
             lSensor, rSensor, fSensor, bSensor (object).\r

-            lWheel,rWheel (object).        \r
+            lfWheel,rfWheel,lbWheel,rbWheel (object).\r
+           tleft,tright (int).     \r

         \r
         \r

+           avanzando,retrocediendo,girando(int).           \r
+           \r
+                   \r

        - to get-density:\r
                return 20.0.\r
 \r
        - to get-density:\r
                return 20.0.\r
 \r


@@ -172,20 +176,29 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                return 0.8.\r
 \r
         + to set-global-velocity to velocity (float):\r
                return 0.8.\r
 \r
         + to set-global-velocity to velocity (float):\r

-               rWheel set-velocity to velocity.\r
-               lWheel set-velocity to velocity.\r
+               rfWheel set-velocity to velocity.\r
+               lfWheel set-velocity to velocity.\r
+               rbWheel set-velocity to velocity.\r
+               lbWheel set-velocity to velocity.\r

 \r
        + to get-global-velocity:\r
 \r
        + to get-global-velocity:\r

-               return ((rWheel get-velocity) + (lWheel get-velocity)) / 2.\r
+               return ((rfWheel get-velocity) + (lfWheel get-velocity)) / 2.\r

 \r
 \r

-       + to turn-right with-velocity velocity (float):         \r
-               lWheel set-velocity to velocity.\r
-                rWheel set-velocity to -velocity.\r
+       + to turn-right:                \r
+               tright++.\r
+\r
+               self rotate around-axis (0,1,0) by (-1.5709/10)*tright. \r
+                       \r
+               if(tright==10): tright=0.\r
+\r
+\r
+       + to turn-left:\r
+               tleft++.\r
+\r
+               self rotate around-axis (0,1,0) by (1.5709/10)*tleft. \r
+                       \r
+               if(tleft==10): tleft=0.\r

 \r
 \r

-       + to turn-left with-velocity velocity (float):\r
-#                vehicle rotate around-axis (0,1,0) by 1. \r
-               lWheel set-velocity to -velocity.       \r
-               rWheel set-velocity to velocity.\r

 \r
         + to get-sensor-value:\r
                return (fSensor get-sensor-value).\r
 \r
         + to get-sensor-value:\r
                return (fSensor get-sensor-value).\r


@@ -214,11 +227,17 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
             rSensor set-id at 4.\r
            rSensor set-body at self.\r
 \r
             rSensor set-id at 4.\r
            rSensor set-body at self.\r
 \r

-            lWheel  = (self add-wheel at (0, 0, -1.5)).\r
-            rWheel  = (self add-wheel at (0, 0, 1.5)).\r
-                        \r
-        +to iterate:            \r
-        #+ to post-iterate:\r
+            lfWheel = (self add-wheel at (2, 0, -1.5)).\r
+            lbWheel = (self add-wheel at (-2, 0, -1.5)).\r
+            rfWheel = (self add-wheel at (2, 0, 1.5)).\r
+            rbWheel = (self add-wheel at (-2, 0, 1.5)).\r
+\r
+           tleft=tright=0.     #Debe ser inicializado en 0 esta asi para probar!!!!!!!!!!!!!!!!!!!!!!!!\r
+           avanzando=1.\r
+           retrocediendo=0.\r
+           girando=0.            \r
+            \r
+        +to iterate:\r

                valuef,valueb,valuer,valuel (float).\r
                fl, fr(float).\r
                \r
                valuef,valueb,valuer,valuel (float).\r
                fl, fr(float).\r
                \r


@@ -226,26 +245,52 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                valueb=bSensor get-data.\r
                 valuel=lSensor get-data.\r
                 valuer=rSensor get-data.\r
                valueb=bSensor get-data.\r
                 valuel=lSensor get-data.\r
                 valuer=rSensor get-data.\r

+               \r
+               print "senforl: $valuel".\r

 \r
 \r

-               self turn-left with-velocity(20).\r
-                self set-global-velocity to (15).\r
-               if valuef >7:           \r
-                    self set-global-velocity to (15).\r
-                else if (valuef <=7) && (valuef > 0):\r
-                {   \r
-                    self set-global-velocity to (0).\r
-                    #self turn-left with-velocity(2).\r
-                    #self turn-right with-velocity(2).\r
-                    #self set-global-velocity to (0).\r
-               }\r
-                #print "sensor valuef: $valuef  valueb: $valueb".\r
-                \r
-                #else if value < 0.1: self turn-left with-velocity CELDAS_MAX_TURN_VELOCITY.\r
-               #else if value > 10: self set-global-velocity to ((self get-global-velocity) - 1).\r
+                if(avanzando):\r
+                       if(valuef>15):\r
+                               self set-global-velocity to (15).\r
+                       else \r
+                               {               \r
+                                avanzando=0.\r
+                                retrocediendo=1.\r
+                               }       \r
+\r
+\r
+               if(retrocediendo):\r
+                       if(valueb>15):\r
+                               self set-global-velocity to (-15).\r
+                       else \r
+                               {               \r
+                                tleft=1.\r
+                                retrocediendo=0.\r
+                               }\r
+\r
+\r
+               if((tleft) && (valuel>10)):                                             \r
+                       {\r
+                        #self set-global-velocity to (0).\r
+                        self turn-left.\r
+                       }\r
+               else\r
+                       {\r
+                        avanzando=1.\r
+                        #tright=1.\r
+                       }\r

 \r
 \r

-               #fl = (flWheel get-velocity).\r
-               #fr = (frWheel get-velocity).\r
-               #print " sensorf: $value  sensorb $valueb, fr: $fr, fl: $fl".            \r
+#!\r
+               if((tright) && (valuer>10)):                                            \r
+                       {\r
+                        #self set-global-velocity to (0).\r
+                        self turn-right.\r
+                       }\r
+               else\r
+                       {\r
+                        avanzando=1.\r
+                        #tright=1.\r
+                       }       \r
+!#     \r

             \r
 }\r
 \r
             \r
 }\r
 \r


@@ -374,16 +419,15 @@ Link : CeldasSensor (aka CeldasSensors) {
                 v,obs(vector).\r
                aux(float).\r
                j (int).\r
                 v,obs(vector).\r
                aux(float).\r
                j (int).\r

-               des1,des2,des3(int).\r
+               des2,des3(int).\r

                wallBegin,wallEnd,wallCenter (float).\r
                 \r
                wallBegin,wallEnd,wallCenter (float).\r
                 \r

-               aux1,aux2,aux3,aux4 (float).\r
-               yo,toObstacle, transDir (vector).\r
+               toObstacle(vector).\r

                 largeWall (float).\r
                 largeWall (float).\r

-                source,destiny (vector).\r
+                \r

                 obsLoc (vector).                \r
                 location (vector).\r
                 obsLoc (vector).                \r
                 location (vector).\r

-                posObstacle,posSensor (vector).\r
+                posObstacle,destiny,yo(vector).\r

                                              \r
                draw clear.\r
                value = 0.0.\r
                                              \r
                draw clear.\r
                value = 0.0.\r


@@ -444,37 +488,20 @@ Link : CeldasSensor (aka CeldasSensors) {
                                 des3=0.\r
                                 \r
                        }                               \r
                                 des3=0.\r
                                 \r
                        }                               \r

-\r
-                       aux1=dot((self get-location),(i get-direction)).\r
-\r
-                       #print "sensor: $id obstaculo: $posObstacle direP: $destiny direS: $direction yo: $yo ".\r
-                       #print "dist: $aux1 begin: $wallBegin end: $wallEnd ".\r
-                       #print "begin: $wallBegin end: $wallEnd".\r
-\r

                        \r
                        \r

-                       if ((i get-location)::z==20):\r
-                               print "------>sensor: $id obstaculo: $posObstacle direP: $destiny direS: $direction yo: $yo  des2: $des2 des1: $des1".  \r
-\r
-                       #print "sensor: $id , des1: $des1, des2: $des2, des3: $des3".\r

                        if ((des2) && (des3)):\r
                          {                                    \r
                        if ((des2) && (des3)):\r
                          {                                    \r

-                               draw clear.                             \r
-                               #print " posObstacle: $posObstacle".                                                    \r
-                               \r
-                       #print "sensor: $id obstaculo: $posObstacle direP: $destiny direS: $direction yo: $yo ".\r
-                       #print "dist: $aux1 begin: $wallBegin end: $wallEnd ".\r
-\r
-\r
-                                       \r
-\r
+                               draw clear.                                                     \r

 \r
                                dist=|obsLoc - (self get-location)|.\r
 \r
                                dist=|obsLoc - (self get-location)|.\r

+\r

                                if( (j==0) || (min>dist) ):\r
                                 {\r
                                        min=dist.\r
                                        obs=obsLoc.\r
                                if( (j==0) || (min>dist) ):\r
                                 {\r
                                        min=dist.\r
                                        obs=obsLoc.\r

+                                       \r

                                        j++.\r
                                        j++.\r

-                                       print "sensor: $id obstaculo: $posObstacle direP: $destiny direS: $direction yo: $yo ". \r
+                                       #print "sensor: $id obstaculo: $posObstacle direP: $destiny direS: $direction yo: $yo ".        \r

                                 }\r
 \r
                         }                                              \r
                                 }\r
 \r
                         }                                              \r


@@ -487,7 +514,7 @@ Link : CeldasSensor (aka CeldasSensors) {
                          #Dibujo el laser\r
                                  draw set-color to (1, 0, 0).\r
                          draw draw-line from (self get-location) to (obs).\r
                          #Dibujo el laser\r
                                  draw set-color to (1, 0, 0).\r
                          draw draw-line from (self get-location) to (obs).\r

-                         return dist.\r
+                         return min.\r

                        }\r
                \r
 \r
                        }\r
                \r
 \r