Agrega un modo de salida intentando que sea más fácil generar tablas con la evolución...

[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 6ca2d6c064a89763fda5461dd10c696b5e58f292..ae29a51d0e9a3474b9a14715087abfd817a88c99 100644 (file)
--- a/trunk/src/breve/Celdas.tz
+++ b/trunk/src/breve/Celdas.tz
@@ -6,8 +6,8 @@
 @use Drawing.\r
 @use SistemaAutonomo.\r
 \r
-@define CELDAS_MAX_VELOCITY 30.\r
-@define CELDAS_TURNO 100.\r
+@define CELDAS_MAX_VELOCITY 5.\r
+@define CELDAS_TURNO 30.\r
 @define CELDAS_SENSOR_THRESHOLD 10.\r
 \r
 PhysicalControl : CeldasControl {\r
@@ -205,19 +205,23 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                return ((rfWheel get-velocity) + (lfWheel get-velocity)) / 2.\r
 \r
        + to turn-right:                \r
-               tright++.\r
-\r
+               #tright++.\r
+               #self rotate around-axis (0,1,0) by (-1.5709/CELDAS_TURNO)*tright. \r
+               #if (tright == CELDAS_TURNO): tright=0.\r
+               if (tright == 0): self set-global-velocity to 0.\r
                self rotate around-axis (0,1,0) by (-1.5709/CELDAS_TURNO)*tright. \r
-                       \r
                if (tright == CELDAS_TURNO): tright=0.\r
+               else tright++.\r
 \r
 \r
        + to turn-left:\r
-               tleft++.\r
-\r
-               self rotate around-axis (0,1,0) by (1.5709/CELDAS_TURNO)*tleft. \r
-                       \r
+               #tleft++.\r
+               #self rotate around-axis (0,1,0) by (1.5709/CELDAS_TURNO)*tleft. \r
+               #if (tleft == CELDAS_TURNO): tleft=0.\r
+               if (tleft == 0): self set-global-velocity to 0.\r
+               self rotate around-axis (0,1,0) by (1.5709/CELDAS_TURNO)*tleft.\r
                if (tleft == CELDAS_TURNO): tleft=0.\r
+               else tleft++.\r
 \r
 \r
         + to get-sensor-value:\r
@@ -289,7 +293,7 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                teorias{0} set-dato-final name "sensor_l" value ANY.\r
                teorias{0} set-dato-final name "movido" value 1.\r
 \r
-               teorias{1} init named "Retroceder" with-action "atras".\r
+               teorias{1} init named "Retroceder" with-action "atras" executed 2.\r
                teorias{1} set-dato-inicial name "sensor_f" value 1.\r
                teorias{1} set-dato-inicial name "sensor_b" value ANY.\r
                teorias{1} set-dato-inicial name "sensor_r" value ANY.\r
@@ -313,7 +317,7 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                teorias{2} set-dato-final name "sensor_l" value 1.\r
                teorias{2} set-dato-final name "movido" value 0.\r
 \r
-               teorias{3} init named "Rotar a izquierda" with-action "izquierda".\r
+               teorias{3} init named "Rotar a izquierda" with-action "izquierda" executed 2.\r
                teorias{3} set-dato-inicial name "sensor_f" value 1.\r
                teorias{3} set-dato-inicial name "sensor_b" value ANY.\r
                teorias{3} set-dato-inicial name "sensor_r" value ANY.\r
@@ -399,13 +403,17 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
                                        girando_der = 1.\r
                                }\r
                        }\r
+                       else\r
+                       {\r
+                               plan-finished = 1.\r
+                       }\r
                }\r
 \r
                # Validación de teoría\r
                if (iterate == CELDAS_TURNO):\r
                {\r
                        # Actualiza entorno segun si se movio o no\r
-                       if (self near position posicion-inicial with-error 1.0):\r
+                       if (self near position posicion-inicial with-error 2.0):\r
                        {\r
                                sa set-entorno value 0 with-name "movido".\r
                        }\r
@@ -427,9 +435,9 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 \r
                # Movimiento del robot\r
                if (avanzando):\r
-                       self set-global-velocity to (15).\r
+                       self set-global-velocity to (CELDAS_MAX_VELOCITY).\r
                if (retrocediendo):\r
-                       self set-global-velocity to (-15).\r
+                       self set-global-velocity to (-CELDAS_MAX_VELOCITY).\r
                if (girando_izq):\r
                        self turn-left.\r
                if (girando_der):\r