Se mejora lectura del sensor y se elimina variable sin demasiada utilidad.

diff --git a/trunk/src/breve/Celdas.tz b/trunk/src/breve/Celdas.tz
index 79b2cc8e8bbc0f0a2d1e7aa21a6ae9f6d8115840..b9a63fbe937ba29e8888fb473dee46ec40163d1f 100644 (file)
--- a/trunk/src/breve/Celdas.tz
+++ b/trunk/src/breve/Celdas.tz
@@ -4,8 +4,6 @@
 @use Link.
 @use MultiBody.
 
-@define CELDAS_MAX_VELOCITY 30.
-
 PhysicalControl : CeldasControl {
        % This class is used for building simple vehicle 
        % simulations.  To create a vehicle simulation, 
@@ -188,10 +186,6 @@ Link : CeldasWheel (aka CeldasWheels) {
 
        + variables:
                joint (object).
-               velocity (float).
-
-       + to init:
-               velocity = 0.
 
        - to set-joint to j (object):
                % Used internally.
@@ -203,15 +197,12 @@ Link : CeldasWheel (aka CeldasWheels) {
        + to set-velocity to n (float):
                % Sets the velocity of this wheel.
 
-               if n > CELDAS_MAX_VELOCITY: n = CELDAS_MAX_VELOCITY.
-               velocity = n.
-
-               joint set-joint-velocity to velocity.
+               joint set-joint-velocity to n.
 
        + to get-velocity:
                % Gets the velocity of this wheel.
                
-               return velocity.
+               return (joint get-joint-velocity).
 
 }
 
@@ -265,9 +256,7 @@ Link : CeldasSensor (aka CeldasSensors) {
 
                        if angle < sensorAngle: {
                                strength = | (self get-location) - (i get-location) |.
-                               strength = 1.0 / (strength * strength) .
-
-                               if strength > 10: strength = 10.
+                               strength = 100.0 / (strength * strength) .
 
                                if strength > value: value = strength.
                        }

diff --git a/trunk/src/breve/Demo.tz b/trunk/src/breve/Demo.tz
index 1fe9eb11ecc552f0b61dba0c6d5393c6d57e8683..7794c3de2917e71bb161c62596df8b0593afd51e 100644 (file)
--- a/trunk/src/breve/Demo.tz
+++ b/trunk/src/breve/Demo.tz
@@ -34,14 +34,12 @@ CeldasControl : DemoController {
                        
                value = sensor get-sensor-value.
 
-               if value < 2: {
-                       leftWheel set-velocity to ((leftWheel get-velocity) + 1).
-                       rightWheel set-velocity to ((rightWheel get-velocity) + 1).
-               }
-
-               if value > 2: {
-                       leftWheel set-velocity to ((leftWheel get-velocity) - 1).
-                       rightWheel set-velocity to ((rightWheel get-velocity) - 1).
+               if value < 1: {
+                       leftWheel set-velocity to ((leftWheel get-velocity) + 15).
+                       rightWheel set-velocity to ((rightWheel get-velocity) + 15).
+               } else if value > 10: {
+                       leftWheel set-velocity to ((leftWheel get-velocity) - 15).
+                       rightWheel set-velocity to ((rightWheel get-velocity) - 15).
                }
 
                print value.

diff --git a/trunk/src/breve/Laberinto.tz b/trunk/src/breve/Laberinto.tz
new file mode 100644 (file)
index 0000000..83b5c16
--- /dev/null
+++ b/trunk/src/breve/Laberinto.tz
@@ -0,0 +1,151 @@
+@use Control.
+@use Stationary.
+@use Celdas.
+
+@define altoPared  5.
+@define posYPared 25.
+@define seccion   20.
+@define distanciaTotalX    240.
+@define distanciaTotalZ    240.
+
+Controller myControl.
+
+
+CeldasObstacle  : Wall{
+
+    +to Create to-posX posX = 0 (float) to-posY posY = 2.5 (float) to-posZ posZ = 0 (float) to-widthX widthX = 120(float) to-widthZ widthZ = 5(float):
+    
+        self register with-shape (new Cube init-with size (widthX,altoPared,widthZ)) at-location (posX,posY,posZ).
+        self set-color to (0,1,0).
+
+}
+
+
+CeldasObstacle  : Labyrinth{
+
+ +to init:
+    wall (object).
+
+    wall=new Wall.
+    
+    #Contorno del laberinto
+    wall  Create to-widthX 11.25*seccion.
+    wall  Create to-posX -5.5*seccion to-widthX 5 to-widthZ 11.25*seccion to-posZ 5.5*seccion .
+    wall  Create to-posX -5.5*seccion to-widthX 5 to-widthZ 11.25*seccion to-posZ 5.5*seccion  to-posX 5.5*seccion .
+    
+    wall  Create to-widthX 5.25*seccion to-posZ 11*seccion to-posX -3*seccion.
+    wall  Create to-widthX 5.25*seccion to-posZ 11*seccion to-posX  3*seccion.
+    #fin contorno
+ 
+    #Paredesd verticales (en el diagrama)
+    wall  Create to-widthZ seccion   to-widthX 5 to-posZ 10.5*seccion to-posX 0.5*seccion.
+    wall  Create to-widthZ 2*seccion to-widthX 5 to-posZ 10*seccion to-posX -1.5*seccion.
+    wall  Create to-widthZ seccion   to-widthX 5 to-posZ 10.5*seccion to-posX -3.5*seccion.
+    
+    wall  Create to-widthZ 2*seccion to-widthX 5 to-posZ 9*seccion to-posX -0.5*seccion.
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 9.5*seccion to-posX -4.5*seccion.
+    wall  Create to-widthZ 3*seccion to-widthX 5 to-posZ 8.5*seccion to-posX -2.5*seccion.
+    wall  Create to-widthZ 3*seccion to-widthX 5 to-posZ 8.5*seccion to-posX 3.5*seccion.
+ 
+    wall  Create to-widthZ 5*seccion to-widthX 5 to-posZ 5.5*seccion to-posX -4.5*seccion.
+    wall  Create to-widthZ 6*seccion to-widthX 5 to-posZ 4*seccion to-posX -3.5*seccion.
+    wall  Create to-widthZ 3*seccion to-widthX 5 to-posZ 4.5*seccion to-posX -2.5*seccion.
+    wall  Create to-widthZ 3*seccion to-widthX 5 to-posZ 5.5*seccion to-posX -1.5*seccion.
+
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 2.5*seccion to-posX 0.5*seccion.
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 1.5*seccion to-posX 1.5*seccion.
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 4.5*seccion to-posX 1.5*seccion.
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 6.5*seccion to-posX 1.5*seccion.
+
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 2.5*seccion to-posX -1.5*seccion. 
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 1.5*seccion to-posX -2.5*seccion.
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 3.5*seccion to-posX -0.5*seccion.
+
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 3.5*seccion to-posX 2.5*seccion.
+    wall  Create to-widthZ 2*seccion to-widthX 5 to-posZ 7*seccion to-posX 2.5*seccion.
+    wall  Create to-widthZ seccion to-widthX 5 to-posZ 4.5*seccion to-posX 3.5*seccion.
+    
+    wall  Create to-widthZ 6*seccion to-widthX 5 to-posZ 6*seccion to-posX 4.5*seccion.    
+    
+    #Paredes horizontales (en el diagrama)
+    wall  Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 10*seccion to-posX 1.5*seccion.    #1
+    wall  Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 10*seccion to-posX 4.5*seccion.    #2
+    
+    wall  Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 9*seccion to-posX -3.5*seccion.    #3
+    wall  Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 8*seccion to-posX -4*seccion.      #4
+    wall  Create to-widthZ 5 to-widthX 5.25*seccion to-posZ 8*seccion to-posX 0.               #5
+    
+    wall  Create to-widthZ 5 to-widthX 3*seccion to-posZ 9*seccion to-posX 2*seccion.          #6
+    
+    wall  Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 7*seccion to-posX -3*seccion.      #7
+    wall  Create to-widthZ 5 to-widthX 3.25*seccion to-posZ 7*seccion to-posX 0.                  #8
+    wall  Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 6*seccion to-posX 3.5*seccion.        #9
+    wall  Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 6*seccion to-posX -2*seccion.         #10    
+    
+    wall  Create to-widthZ 5 to-widthX 3.25*seccion to-posZ 4*seccion to-posX 0.               #11
+    wall  Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 5*seccion to-posX 2.5*seccion.     #12
+    
+    wall  Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 3*seccion to-posX -4*seccion.      #13
+    wall  Create to-widthZ 5 to-widthX 1.25*seccion to-posZ 3*seccion to-posX -2*seccion.      #14
+    wall  Create to-widthZ 5 to-widthX 4.25*seccion to-posZ 3*seccion to-posX 2.5*seccion.     #15
+    #wall  Create to-widthZ 5 to-widthX 4*seccion to-posZ 3*seccion to-posX 2.5*seccion.     #15
+    
+    wall  Create to-widthZ 5 to-widthX   seccion to-posZ 2*seccion to-posX -5*seccion.      #16
+    wall  Create to-widthZ 5 to-widthX 2.25*seccion to-posZ 2*seccion to-posX -0.5*seccion.    #17
+    wall  Create to-widthZ 5 to-widthX 4.25*seccion to-posZ 2*seccion to-posX  3.5*seccion.    #18
+    
+    wall  Create to-widthZ 5 to-widthX 9*seccion to-posZ 1*seccion to-posX  0.              #19
+    
+    #push wall onto walls. 
+}
+
+
+Control: myControl{
++ variables:
+    labe(object). 
+    sensor (object).
+    leftWheel, rightWheel (object).
+    vehicle (object).
+ 
++ to init:
+    self point-camera at (0,0,0) from (200,200,200).
+    new Floor.
+
+    labe = new Labyrinth.
+    vehicle = new CeldasVehicle.
+    self watch item vehicle.
+
+    vehicle move to (0, 0, 10).
+
+    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 50.0.
+    rightWheel set-velocity to 50.0.
+
+    sensor = (vehicle add-sensor at (2.0, .4, 0)).
+
+
++to iterate:
+    super iterate.
+    
++ to post-iterate:
+               value (float).
+                       
+               value = sensor get-sensor-value.
+
+               if value < 2: {
+                       leftWheel set-velocity to ((leftWheel get-velocity) + 1).
+                       rightWheel set-velocity to ((rightWheel get-velocity) + 1).
+               }
+
+               if value > 2: {
+                       leftWheel set-velocity to ((leftWheel get-velocity) - 1).
+                       rightWheel set-velocity to ((rightWheel get-velocity) - 1).
+               }
+
+               #print value.
+
+}
+