Construyo wrappers con la nueva interfaz que habíamos hablado para el sistema autónom...

[z.facultad/75.68/celdas.git] / trunk / src / breve / robot / Celdas-2-5.tz

diff --git a/trunk/src/breve/robot/Celdas-2-5.tz b/trunk/src/breve/robot/Celdas-2-5.tz
index fb87985fcdf4c5566ecc801211409ae4287efacd..ee56a6e23d8c810ef2fba1fc962519c86e231f0e 100644 (file)
--- a/trunk/src/breve/robot/Celdas-2-5.tz
+++ b/trunk/src/breve/robot/Celdas-2-5.tz
@@ -381,7 +381,6 @@ Link : CeldasSensor (aka CeldasSensors) {
                 obsLoc (vector).                \r
                 location (vector).\r
                 posObstacle,posSensor (vector).\r
                 obsLoc (vector).                \r
                 location (vector).\r
                 posObstacle,posSensor (vector).\r

-                angulo(double).\r

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


@@ -392,12 +391,12 @@ Link : CeldasSensor (aka CeldasSensors) {
                         posObstacle=i get-location.\r
                         \r
                                                                \r
                         posObstacle=i get-location.\r
                         \r
                                                                \r

-                       \r
+                       #!\r

                        if(dot((i get-direction),direction)==0):\r
                                des1=1.\r
                        else\r
                                des1=0.\r
                        if(dot((i get-direction),direction)==0):\r
                                des1=1.\r
                        else\r
                                des1=0.\r

-\r
+                       !#\r

 \r
                        des2=0.\r
                        if(dot(direction,(1,1,1))<0):\r
 \r
                        des2=0.\r
                        if(dot(direction,(1,1,1))<0):\r


@@ -451,7 +450,7 @@ Link : CeldasSensor (aka CeldasSensors) {
 \r
                        \r
                        print "sensor: $id , des1: $des1, des2: $des2, des3: $des3".\r
 \r
                        \r
                        print "sensor: $id , des1: $des1, des2: $des2, des3: $des3".\r

-                       if ((des1) && (des2) && (des3)):\r
+                       if ((des2) && (des3)):\r

                          {                                    \r
                                draw clear.                             \r
                                #print " posObstacle: $posObstacle".                                                    \r
                          {                                    \r
                                draw clear.                             \r
                                #print " posObstacle: $posObstacle".                                                    \r