X-Git-Url: https://git.llucax.com/z.facultad/75.68/celdas.git/blobdiff_plain/cf47fee21741c00d17387e1c642056705bc1269b..3de9a6adae2fe5a00ec315ba34f08f6d91a5b265:/trunk/src/breve/Celdas.tz

diff --git a/trunk/src/breve/Celdas.tz b/trunk/src/breve/Celdas.tz
index 6ca2d6c..ae29a51 100644
--- a/trunk/src/breve/Celdas.tz
+++ b/trunk/src/breve/Celdas.tz
@@ -6,8 +6,8 @@
 @use Drawing.
 @use SistemaAutonomo.
 
-@define CELDAS_MAX_VELOCITY 30.
-@define CELDAS_TURNO 100.
+@define CELDAS_MAX_VELOCITY 5.
+@define CELDAS_TURNO 30.
 @define CELDAS_SENSOR_THRESHOLD 10.
 
 PhysicalControl : CeldasControl {
@@ -205,19 +205,23 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 		return ((rfWheel get-velocity) + (lfWheel get-velocity)) / 2.
 
 	+ to turn-right:		
-		tright++.
-
+		#tright++.
+		#self rotate around-axis (0,1,0) by (-1.5709/CELDAS_TURNO)*tright. 
+		#if (tright == CELDAS_TURNO): tright=0.
+		if (tright == 0): self set-global-velocity to 0.
 		self rotate around-axis (0,1,0) by (-1.5709/CELDAS_TURNO)*tright. 
-			
 		if (tright == CELDAS_TURNO): tright=0.
+		else tright++.
 
 
 	+ to turn-left:
-		tleft++.
-
-		self rotate around-axis (0,1,0) by (1.5709/CELDAS_TURNO)*tleft. 
-			
+		#tleft++.
+		#self rotate around-axis (0,1,0) by (1.5709/CELDAS_TURNO)*tleft. 
+		#if (tleft == CELDAS_TURNO): tleft=0.
+		if (tleft == 0): self set-global-velocity to 0.
+		self rotate around-axis (0,1,0) by (1.5709/CELDAS_TURNO)*tleft.
 		if (tleft == CELDAS_TURNO): tleft=0.
+		else tleft++.
 
 
         + to get-sensor-value:
@@ -289,7 +293,7 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 		teorias{0} set-dato-final name "sensor_l" value ANY.
 		teorias{0} set-dato-final name "movido" value 1.
 
-		teorias{1} init named "Retroceder" with-action "atras".
+		teorias{1} init named "Retroceder" with-action "atras" executed 2.
 		teorias{1} set-dato-inicial name "sensor_f" value 1.
 		teorias{1} set-dato-inicial name "sensor_b" value ANY.
 		teorias{1} set-dato-inicial name "sensor_r" value ANY.
@@ -313,7 +317,7 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 		teorias{2} set-dato-final name "sensor_l" value 1.
 		teorias{2} set-dato-final name "movido" value 0.
 
-		teorias{3} init named "Rotar a izquierda" with-action "izquierda".
+		teorias{3} init named "Rotar a izquierda" with-action "izquierda" executed 2.
 		teorias{3} set-dato-inicial name "sensor_f" value 1.
 		teorias{3} set-dato-inicial name "sensor_b" value ANY.
 		teorias{3} set-dato-inicial name "sensor_r" value ANY.
@@ -399,13 +403,17 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 					girando_der = 1.
 				}
 			}
+			else
+			{
+				plan-finished = 1.
+			}
 		}
 
 		# Validación de teoría
 		if (iterate == CELDAS_TURNO):
 		{
 			# Actualiza entorno segun si se movio o no
-			if (self near position posicion-inicial with-error 1.0):
+			if (self near position posicion-inicial with-error 2.0):
 			{
 				sa set-entorno value 0 with-name "movido".
 			}
@@ -427,9 +435,9 @@ CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) {
 
 		# Movimiento del robot
 		if (avanzando):
-			self set-global-velocity to (15).
+			self set-global-velocity to (CELDAS_MAX_VELOCITY).
 		if (retrocediendo):
-			self set-global-velocity to (-15).
+			self set-global-velocity to (-CELDAS_MAX_VELOCITY).
 		if (girando_izq):
 			self turn-left.
 		if (girando_der):