Se mejora el demo, se agrega una rueda más (central) al robot para que sea más

estable (tal vez en el robot posta haya que sacarla porque impida la rotación
por diferencia de velocidad en las ruebas laterales) y se ajustan los valores de
medición del sensor para que se comporte como se espera (se aleje y acerque de
las paredes).

diff --git a/trunk/src/breve/Demo.tz b/trunk/src/breve/Demo.tz
index 8b9a3e50c069537d2b80d9c9932128fd9ffbc23c..1fe9eb11ecc552f0b61dba0c6d5393c6d57e8683 100644 (file)
--- a/trunk/src/breve/Demo.tz
+++ b/trunk/src/breve/Demo.tz
@@ -20,8 +20,9 @@ CeldasControl : DemoController {
 
                vehicle move to (10, 2, 5).
 
-               leftWheel = (vehicle add-wheel at (-.5, 0, -1.5)).
-               rightWheel = (vehicle add-wheel at (-.5, 0, 1.5)).
+               leftWheel = (vehicle add-wheel at (-2, 0, -1.5)).
+               rightWheel = (vehicle add-wheel at (-2, 0, 1.5)).
+               vehicle add-wheel at (1, 0, 0).
 
                leftWheel set-velocity to 15.0.
                rightWheel set-velocity to 15.0.
@@ -33,14 +34,14 @@ CeldasControl : DemoController {
                        
                value = sensor get-sensor-value.
 
-               if value < 5: {
-                       leftWheel set-velocity to ((leftWheel get-velocity) + 5).
-                       rightWheel set-velocity to ((rightWheel get-velocity) + 5).
+               if value < 2: {
+                       leftWheel set-velocity to ((leftWheel get-velocity) + 1).
+                       rightWheel set-velocity to ((rightWheel get-velocity) + 1).
                }
 
-               if value > 5: {
-                       leftWheel set-velocity to ((leftWheel get-velocity) - 5).
-                       rightWheel set-velocity to ((rightWheel get-velocity) - 5).
+               if value > 2: {
+                       leftWheel set-velocity to ((leftWheel get-velocity) - 1).
+                       rightWheel set-velocity to ((rightWheel get-velocity) - 1).
                }
 
                print value.