Se cambia de lugar la purgación de teorías porque podía pasar que se purge una teoria...

[z.facultad/75.68/celdas.git] / trunk / src / breve / Celdas.tz

diff --git a/trunk/src/breve/Celdas.tz b/trunk/src/breve/Celdas.tz
index 2998cb9e7e7e8958cb271891c1cfe16736a0c4a9..7c1afdc5d79b018d6edb469e9e8104d3b3dd3fb6 100644 (file)
--- a/trunk/src/breve/Celdas.tz
+++ b/trunk/src/breve/Celdas.tz
@@ -8,6 +8,7 @@
 \r
 @define CELDAS_MAX_VELOCITY 30.\r
 @define CELDAS_TURNO 100.\r
 \r
 @define CELDAS_MAX_VELOCITY 30.\r
 @define CELDAS_TURNO 100.\r

+@define CELDAS_SENSOR_THRESHOLD 9.\r

 \r
 PhysicalControl : CeldasControl {\r
        % This class is used for building simple vehicle \r
 \r
 PhysicalControl : CeldasControl {\r
        % This class is used for building simple vehicle \r


@@ -55,7 +56,6 @@ MultiBody : CeldasLightVehicle (aka CeldasLightVehicles) {
                bodyLink (object).\r
 \r
                wheels (list).\r
                bodyLink (object).\r
 \r
                wheels (list).\r

-               sensors (list).\r

 \r
        + to init:\r
                bodyShape = new Shape.\r
 \r
        + to init:\r
                bodyShape = new Shape.\r


@@ -316,13 +316,12 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                sa update-datos-finales with datos-finales.\r
 \r
         +to iterate:\r
                sa update-datos-finales with datos-finales.\r
 \r
         +to iterate:\r

-               fl, fr(float).\r
-\r

                self update-entorno.\r
 \r
                if (0): # TODO posicion_final == posicion_actual\r
                {\r
                        print "Llegamos al FINAL!!!".\r
                self update-entorno.\r
 \r
                if (0): # TODO posicion_final == posicion_actual\r
                {\r
                        print "Llegamos al FINAL!!!".\r

+                       self set-global-velocity to 0.\r

                        return.\r
                }\r
 \r
                        return.\r
                }\r
 \r


@@ -341,10 +340,8 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 \r
                if (iterate == 0):\r
                {\r
 \r
                if (iterate == 0):\r
                {\r

-                       print "iteracion 0".\r

                        if (sa has-next-theory):\r
                        {\r
                        if (sa has-next-theory):\r
                        {\r

-                               print "hay teoria".\r

                                teoria = sa get-next-theory.\r
                                if ((teoria get-accion) == "adelante"):\r
                                {\r
                                teoria = sa get-next-theory.\r
                                if ((teoria get-accion) == "adelante"):\r
                                {\r


@@ -382,11 +379,9 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                        # TODO if (posicion_actual == posicion_inicial): movido = false. else movido = true.\r
                        if (sa validate theory teoria):\r
                        {\r
                        # TODO if (posicion_actual == posicion_inicial): movido = false. else movido = true.\r
                        if (sa validate theory teoria):\r
                        {\r

-                               print "valida".\r

                        }\r
                        else\r
                        {\r
                        }\r
                        else\r
                        {\r

-                               print "Teoria no valida".\r

                                plan_finished = 1.\r
                        }\r
                }\r
                                plan_finished = 1.\r
                        }\r
                }\r


@@ -526,7 +521,7 @@ Link : CeldasSensor (aka CeldasSensors) {
                val (float).\r
 \r
                val = self get-data.\r
                val (float).\r
 \r
                val = self get-data.\r

-               if (val > 10): return 0.\r
+               if (val > CELDAS_SENSOR_THRESHOLD): return 0.\r

                else           return 1.\r
         \r
         #+ to iterate:\r
                else           return 1.\r
         \r
         #+ to iterate:\r


@@ -535,16 +530,10 @@ Link : CeldasSensor (aka CeldasSensors) {
                i (object).\r
                min,dist (float).\r
                 v,obs(vector).\r
                i (object).\r
                min,dist (float).\r
                 v,obs(vector).\r

-               aux(float).\r

                j (int).\r
                des2,des3(int).\r
                wallBegin,wallEnd,wallCenter (float).\r
                j (int).\r
                des2,des3(int).\r
                wallBegin,wallEnd,wallCenter (float).\r

-                \r
-               toObstacle(vector).\r
-                largeWall (float).\r
-                \r

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

-                location (vector).\r

                 posObstacle,destiny,yo(vector).\r
                                              \r
                draw clear.\r
                 posObstacle,destiny,yo(vector).\r
                                              \r
                draw clear.\r