Bugfix, cambia modo de rotación para que rote en el lugar y varios cambios de parámet...

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
 @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
 @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
                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
                self rotate around-axis (0,1,0) by (-1.5709/CELDAS_TURNO)*tright. \r

-                       \r

                if (tright == CELDAS_TURNO): tright=0.\r
                if (tright == CELDAS_TURNO): tright=0.\r

+               else tright++.\r

 \r
 \r
        + to turn-left:\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
                if (tleft == CELDAS_TURNO): tleft=0.\r

+               else tleft++.\r

 \r
 \r
         + to get-sensor-value:\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{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
                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{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
                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
                                        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
                }\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
                        {\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
 \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
                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
                if (girando_izq):\r
                        self turn-left.\r
                if (girando_der):\r