X-Git-Url: https://git.llucax.com/z.facultad/75.68/celdas.git/blobdiff_plain/3d6b50d2b60ae819d5879c844639ab78f3a4731e..9d2694b6708c33f0eeb0537032687872e0056e4b:/trunk/src/breve/Celdas.tz

diff --git a/trunk/src/breve/Celdas.tz b/trunk/src/breve/Celdas.tz
index 0d3ced5..7c1afdc 100644
--- a/trunk/src/breve/Celdas.tz
+++ b/trunk/src/breve/Celdas.tz
@@ -8,6 +8,7 @@
 
 @define CELDAS_MAX_VELOCITY 30.
 @define CELDAS_TURNO 100.
+@define CELDAS_SENSOR_THRESHOLD 9.
 
 PhysicalControl : CeldasControl {
 	% This class is used for building simple vehicle 
@@ -55,7 +56,6 @@ MultiBody : CeldasLightVehicle (aka CeldasLightVehicles) {
 		bodyLink (object).
 
 		wheels (list).
-		sensors (list).
 
 	+ to init:
 		bodyShape = new Shape.
@@ -211,10 +211,10 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 		return (fSensor get-sensor-value).
 
 	+to update-entorno:
-		entorno{"sensor_f"} = (fSensor get-data).
-		entorno{"sensor_b"} = (bSensor get-data).
-		entorno{"sensor_r"} = (rSensor get-data).
-		entorno{"sensor_l"} = (lSensor get-data).
+		entorno{"sensor_f"} = (fSensor get-sensor-value).
+		entorno{"sensor_b"} = (bSensor get-sensor-value).
+		entorno{"sensor_r"} = (rSensor get-sensor-value).
+		entorno{"sensor_l"} = (lSensor get-sensor-value).
 		entorno{"movido"} = 0. # TODO
 		sa update-entorno with entorno.            
 
@@ -316,17 +316,17 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 		sa update-datos-finales with datos-finales.
 
         +to iterate:
-		fl, fr(float).
+		self update-entorno.
 
 		if (0): # TODO posicion_final == posicion_actual
 		{
 			print "Llegamos al FINAL!!!".
+			self set-global-velocity to 0.
 			return.
 		}
 
 		if (plan_finished):
 		{
-			self update-entorno.
 			sa plan. # Si no tenemos plan, lo hacemos
 			plan_finished = 0.
 			# TODO posicion_inicial = posicion_actual
@@ -340,10 +340,8 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 
 		if (iterate == 0):
 		{
-			print "iteracion 0".
 			if (sa has-next-theory):
 			{
-				print "hay teoria".
 				teoria = sa get-next-theory.
 				if ((teoria get-accion) == "adelante"):
 				{
@@ -378,15 +376,12 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 
 		if (iterate == CELDAS_TURNO):
 		{
-			self update-entorno.
 			# TODO if (posicion_actual == posicion_inicial): movido = false. else movido = true.
 			if (sa validate theory teoria):
 		       	{
-				print "valida".
 			}
 			else
 			{
-				print "Teoria no valida".
 				plan_finished = 1.
 			}
 		}
@@ -523,6 +518,11 @@ Link : CeldasSensor (aka CeldasSensors) {
 		% Gets the sensor value. This should be used from post-iterate,
 		% if not, the sensor reading correspond to the previous
 		% iteration.
+		val (float).
+
+		val = self get-data.
+		if (val > CELDAS_SENSOR_THRESHOLD): return 0.
+		else           return 1.
         
         #+ to iterate:
         
@@ -530,16 +530,10 @@ Link : CeldasSensor (aka CeldasSensors) {
 		i (object).
 		min,dist (float).
                 v,obs(vector).
-		aux(float).
 		j (int).
 		des2,des3(int).
 		wallBegin,wallEnd,wallCenter (float).
-                
-		toObstacle(vector).
-                largeWall (float).
-                
                 obsLoc (vector).                
-                location (vector).
                 posObstacle,destiny,yo(vector).
                                              
            	draw clear.