Distintos modelos de robots con los que estuve jugando. El único que parece

andar respetablemente bien es el Demo-4wheels.tz.

diff --git a/trunk/src/breve/Demo-2wheels.tz b/trunk/src/breve/Demo-2wheels.tz
new file mode 100644 (file)
index 0000000..4c4c45b
--- /dev/null
+++ b/trunk/src/breve/Demo-2wheels.tz
@@ -0,0 +1,69 @@
+
+@use Celdas.
+
+Controller DemoController.
+
+CeldasControl : DemoController {
+       + variables:
+               sensor (object).
+               blWheel, brWheel (object).
+               vehicle (object).
+
+               n (int).
+
+       + to init:
+               for n=0, n<10, n++:
+                       new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
+
+               vehicle = new CeldasVehicle.
+               self watch item vehicle.
+
+               vehicle move to (10, 0.8, 5).
+
+               blWheel = (vehicle add-wheel at (0, 0, -1.5)).
+               brWheel = (vehicle add-wheel at (0, 0, 1.5)).
+
+               self set-global-velocity to 15.0.
+
+               sensor = (vehicle add-sensor at (2.0, .4, 0)).
+
+       + to set-global-velocity to velocity (float):
+
+               brWheel set-velocity to velocity.
+               blWheel set-velocity to velocity.
+
+       + to get-global-velocity:
+
+               return ((brWheel get-velocity) 
+                       + (blWheel get-velocity)) / 2.
+
+       + to turn-right with-velocity velocity (float):
+
+               brWheel set-velocity to velocity.
+               blWheel set-velocity to -velocity.
+
+       + to turn-left with-velocity velocity (float):
+
+               blWheel set-velocity to velocity.
+               brWheel set-velocity to -velocity.
+
+       + to get-sensor-value:
+
+               return (sensor get-sensor-value).
+
+
+       + to post-iterate:
+               value (float).
+               bl, br (float).
+                       
+               value = self get-sensor-value.
+
+               if value < 1:       self set-global-velocity to ((self get-global-velocity) + 1).
+               else if value > 5: self turn-right with-velocity 15.0.
+               #else if value > 10: self set-global-velocity to ((self get-global-velocity) - 1).
+
+               bl = (blWheel get-velocity).
+               br = (brWheel get-velocity).
+               print "sensor: $value, br: $br, bl: $bl".
+
+}

diff --git a/trunk/src/breve/Demo-4wheels.tz b/trunk/src/breve/Demo-4wheels.tz
new file mode 100644 (file)
index 0000000..943de3b
--- /dev/null
+++ b/trunk/src/breve/Demo-4wheels.tz
@@ -0,0 +1,79 @@
+
+@use Celdas.
+
+Controller DemoController.
+
+CeldasControl : DemoController {
+       + variables:
+               sensor (object).
+               flWheel, frWheel, blWheel, brWheel (object).
+               vehicle (object).
+
+               n (int).
+
+       + to init:
+               for n=0, n<10, n++:
+                       new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
+
+               vehicle = new CeldasVehicle.
+               self watch item vehicle.
+
+               vehicle move to (10, 0.8, 5).
+
+               flWheel = (vehicle add-wheel at (2, 0, -1.5)).
+               frWheel = (vehicle add-wheel at (2, 0, 1.5)).
+               blWheel = (vehicle add-wheel at (-2, 0, -1.5)).
+               brWheel = (vehicle add-wheel at (-2, 0, 1.5)).
+
+               self set-global-velocity to 15.0.
+
+               sensor = (vehicle add-sensor at (2.0, .4, 0)).
+
+       + to set-global-velocity to velocity (float):
+
+               brWheel set-velocity to velocity.
+               frWheel set-velocity to velocity.
+               blWheel set-velocity to velocity.
+               flWheel set-velocity to velocity.
+
+       + to get-global-velocity:
+
+               return ((brWheel get-velocity) + (frWheel get-velocity)
+                       + (blWheel get-velocity) + (flWheel set-velocity)) / 4.
+
+       + to turn-right with-velocity velocity (float):
+
+               brWheel set-velocity to velocity.
+               frWheel set-velocity to velocity.
+               blWheel set-velocity to -velocity.
+               flWheel set-velocity to -velocity.
+
+       + to turn-left with-velocity velocity (float):
+
+               blWheel set-velocity to velocity.
+               flWheel set-velocity to velocity.
+               brWheel set-velocity to -velocity.
+               frWheel set-velocity to -velocity.
+
+       + to get-sensor-value:
+
+               return (sensor get-sensor-value).
+
+
+       + to post-iterate:
+               value (float).
+               fl, fr, bl, br (float).
+                       
+               value = self get-sensor-value.
+
+               if value < 1:       self set-global-velocity to ((self get-global-velocity) + 1).
+               else if value > 5: self turn-right with-velocity 15.0.
+               #else if value > 10: self set-global-velocity to ((self get-global-velocity) - 1).
+
+               fl = (flWheel get-velocity).
+               bl = (blWheel get-velocity).
+               fr = (frWheel get-velocity).
+               br = (brWheel get-velocity).
+               print "sensor: $value, fr: $fr, fl: $fl, br: $br, bl: $bl".
+
+}

diff --git a/trunk/src/breve/Demo-myvehicle-4wheels.tz b/trunk/src/breve/Demo-myvehicle-4wheels.tz
new file mode 100644 (file)
index 0000000..865681b
--- /dev/null
+++ b/trunk/src/breve/Demo-myvehicle-4wheels.tz
@@ -0,0 +1,81 @@
+
+@use Celdas.
+
+Controller DemoController.
+
+CeldasVehicle : MyVehicle {
+
+       + variables:
+               sensor (object).
+               flWheel, frWheel, blWheel, brWheel (object).
+
+       + to init at location = (0, 0, 0) (vector):
+
+               self move to location.
+
+               blWheel = (self add-wheel at (2, 0, -1.5)).
+               brWheel = (self add-wheel at (2, 0, 1.5)).
+               blWheel = (self add-wheel at (-2, 0, -1.5)).
+               brWheel = (self add-wheel at (-2, 0, 1.5)).
+
+               #blWheel set-velocity to 15.0.
+               #brWheel set-velocity to 15.0.
+
+               sensor = (self add-sensor at (2.0, .4, 0)).
+
+       + to set-global-velocity to velocity (float):
+
+               brWheel set-velocity to velocity.
+               frWheel set-velocity to velocity.
+               blWheel set-velocity to velocity.
+               flWheel set-velocity to velocity.
+
+       + to get-global-velocity:
+
+               return ((brWheel get-velocity) + (frWheel get-velocity)
+                       + (blWheel get-velocity) + (flWheel set-velocity)) / 4.
+
+       + to turn-right with-velocity velocity (float):
+
+               brWheel set-velocity to velocity.
+               frWheel set-velocity to velocity.
+               blWheel set-velocity to -velocity.
+               flWheel set-velocity to -velocity.
+
+       + to turn-left with-velocity velocity (float):
+
+               blWheel set-velocity to velocity.
+               flWheel set-velocity to velocity.
+               brWheel set-velocity to -velocity.
+               frWheel set-velocity to -velocity.
+
+       + to get-sensor-value:
+
+               return (sensor get-sensor-value).
+
+}
+
+CeldasControl : DemoController {
+       + variables:
+               vehicle (object).
+
+               n (int).
+
+       + to init:
+               for n=0, n<10, n++:
+                       new CeldasObstacle init at-location (20 * sin(n * 6.28 / 10), 1, 20 * cos(n * 6.28 / 10)).
+
+               vehicle = new MyVehicle.
+               self watch item vehicle.
+
+       + to post-iterate:
+               value (float).
+                       
+               value = vehicle get-sensor-value.
+
+               if value < 1:       vehicle set-global-velocity to ((vehicle get-global-velocity) + 1).
+               else if value > 10: vehicle set-global-velocity to ((vehicle get-global-velocity) - 1).
+
+               print value.
+
+}