From 09715c02260f695a67bda6667961b6736bb0a7a8 Mon Sep 17 00:00:00 2001 From: Marcelo Benitez Date: Thu, 30 Nov 2006 19:01:14 +0000 Subject: [PATCH] --- trunk/src/breve/robot/Celdas-2-5.tz | 474 +++++++++++++++++++++++ trunk/src/breve/robot/Demo-2wheels2-5.tz | 36 ++ 2 files changed, 510 insertions(+) create mode 100644 trunk/src/breve/robot/Celdas-2-5.tz create mode 100644 trunk/src/breve/robot/Demo-2wheels2-5.tz diff --git a/trunk/src/breve/robot/Celdas-2-5.tz b/trunk/src/breve/robot/Celdas-2-5.tz new file mode 100644 index 0000000..8534014 --- /dev/null +++ b/trunk/src/breve/robot/Celdas-2-5.tz @@ -0,0 +1,474 @@ +@use PhysicalControl. +@use Shape. +@use Stationary. +@use Link. +@use MultiBody. +@use Drawing. + +@define CELDAS_MAX_VELOCITY 30. + +PhysicalControl : CeldasControl { + % This class is used for building simple vehicle + % simulations. To create a vehicle simulation, + % subclass CeldasControl and use the init method to + % create OBJECT(CeldasObstacle) and + % OBJECT(CeldasVehicle) objects. + + + variables: + floor (object). + floorShape (object). + cloudTexture (object). + + + + to init: + self enable-lighting. + #self enable-smooth-drawing. + + floorShape = new Shape. + floorShape init-with-cube size (200, .2, 200). + + floor = new Stationary. + floor register with-shape floorShape at-location (0, 0, 0). + #floor catch-shadows. + + self point-camera at (0, 0, 0) from (3, 3, 24). + + #self enable-shadows. + #self enable-reflections. + + cloudTexture = (new Image load from "images/clouds.png"). + self set-background-color to (.4, .6, .9). + self set-background-texture-image to cloudTexture. + +} + +MultiBody : CeldasLightVehicle (aka CeldasLightVehicles) { + % This object is used in conjunction with OBJECT(CeldasControl) to + % create simple vehicles. + + + variables: + bodyShape (object). + wheelShape (object). + sensorShape (object). + bodyLink (object). + + wheels (list). + sensors (list). + + + to init: + bodyShape = new Shape. + bodyShape init-with-cube size (4.0, .75, 3.0). + + wheelShape = new Shape. + wheelShape init-with-polygon-disk radius ( self get-wheel-radius ) sides 20 height ( self get-wheel-width ). + # 40 + + sensorShape = new Shape. + sensorShape init-with-polygon-cone radius .2 sides 5 height .5. + # 10 + + bodyShape set-density to ( self get-density ). + bodyLink = new Link. + bodyLink set-shape to bodyShape. + bodyLink set-mu to -1.0. + bodyLink set-eT to .8. + + self set-root to bodyLink. + + self move to (0, 0.9, 0). + self set-texture-scale to 1.5. + + - to get-density: + return 1.0. + + - to get-wheel-width: + return 0.1. + + - to get-wheel-radius: + return 0.6. + + + section "Adding Wheels and Sensors to a Vehicle" + + + to add-wheel at location (vector): + % Adds a wheel at location on the vehicle. This method returns + % the wheel which is created, a OBJECT(CeldasWheel). + + wheel, joint (object). + + wheel = new CeldasWheel. + wheel set-shape to wheelShape. + + joint = new RevoluteJoint. + + joint set-relative-rotation around-axis (1, 0, 0) by 1.5708. + joint link parent bodyLink to-child wheel with-normal (0, 0, 1) + with-parent-point location with-child-point (0, 0, 0). + + wheel set-eT to .8. + wheel set-texture to 0. + wheel set-joint to joint. + joint set-strength-limit to (joint get-strength-hard-limit) / 2. + wheel set-color to (.6, .6, .6). + wheel set-mu to 100000. + + self add-dependency on joint. + self add-dependency on wheel. + + push wheel onto wheels. + + return wheel. + + + to add-sensor at location (vector) with-direction direction = (0,1,0)(vector) : + % Adds a sensor at location on the vehicle. This method returns + % the sensor which is created, a OBJECT(CeldasSensor). + + sensor, joint (object). + + sensor = new CeldasSensor. + sensor set-direction to direction. + + sensor set-shape to sensorShape. + + joint = new RevoluteJoint. + + joint set-relative-rotation around-axis (0, 0, 1) by -1.57. + joint link parent bodyLink to-child sensor with-normal (1, 0, 0) + with-parent-point location with-child-point (0, 0, 0). + + joint set-double-spring with-strength 300 with-max 0.01 with-min -0.01. + + self add-dependency on joint. + self add-dependency on sensor. + + sensor set-color to (0, 0, 0). + + #push sensor onto sensors. + + return sensor. + + + to destroy: + free sensorShape. + free wheelShape. + free bodyShape. + + super destroy. +} + +CeldasLightVehicle : CeldasVehicle (aka CeldasVehicles) { + % A heavy duty version of OBJECT(CeldasLightVehicle), this + % vehicle is heavier and harder to control, but more stable + % at higher speeds. + +variables: + lSensor, rSensor, fSensor, bSensor (object). + lWheel,rWheel (object). + + - to get-density: + return 20.0. + + - to get-wheel-width: + return 0.4. + + - to get-wheel-radius: + return 0.8. + + + to set-global-velocity to velocity (float): + rWheel set-velocity to velocity. + lWheel set-velocity to velocity. + + + to get-global-velocity: + return ((rWheel get-velocity) + (lWheel get-velocity)) / 2. + + + to turn-right with-velocity velocity (float): + lWheel set-velocity to velocity. + rWheel set-velocity to -velocity. + + + to turn-left with-velocity velocity (float): +# vehicle rotate around-axis (0,1,0) by 1. + lWheel set-velocity to -velocity. + rWheel set-velocity to velocity. + + + to get-sensor-value: + return (fSensor get-sensor-value). + + +to init: + fSensor = (self add-sensor at (2.0, .4, 0)). + fSensor set-direction to (1,0,0). + fSensor set-id at 1. + fSensor set-body at self. + bSensor = (self add-sensor at (-2.0, .4, 0)). + bSensor set-direction to (-1,0,0). + bSensor set-id at 2. + bSensor set-body at self. + #bSensor set-sensor-angle to (-1.6). + lSensor = (self add-sensor at (0, .4, 1.5)). + lSensor set-direction to (0,0,1). + lSensor set-id at 3. + lSensor set-body at self. + + + rSensor = (self add-sensor at (0, .4, -1.5)). + rSensor set-direction to (0,0,-1). + rSensor set-id at 4. + rSensor set-body at self. + + lWheel = (self add-wheel at (0, 0, -1.5)). + rWheel = (self add-wheel at (0, 0, 1.5)). + + +to iterate: + #+ to post-iterate: + valuef,valueb,valuer,valuel (float). + fl, fr(float). + + valuef=fSensor get-data. + valueb=bSensor get-data. + valuel=lSensor get-data. + valuer=rSensor get-data. + + #value = sensor get-data. + #value = self get-sensor-value. + #valueb = sensor2 get-sensor-value. + + if valuef >7: + self set-global-velocity to (15). + else if (valuef <=7) && (valuef > 0): + { + self set-global-velocity to (0). + #self turn-left with-velocity(2). + #self turn-right with-velocity(2). + #self set-global-velocity to (0). + } + #print "sensor valuef: $valuef valueb: $valueb". + + #else if value < 0.1: self turn-left with-velocity CELDAS_MAX_TURN_VELOCITY. + #else if value > 10: self set-global-velocity to ((self get-global-velocity) - 1). + + #fl = (flWheel get-velocity). + #fr = (frWheel get-velocity). + #print " sensorf: $value sensorb $valueb, fr: $fr, fl: $fl". + +} + +Stationary : CeldasObstacle (aka CeldasObstacles) { + % A CeldasObstacle is used in conjunction with OBJECT(CeldasControl) + % and OBJECT(CeldasVehicle). It is what the OBJECT(CeldasSensor) + % objects on the CeldasVehicle detect. + %

+ % There are no special behaviors associated with the walls--they're + % basically just plain OBJECT(Stationary) objects. + + +variables: + large (float). + direction (vector). + + + + to init with-size theSize = (10, 3, .1) (vector) with-color theColor = (1, 0, 0) (vector) at-location theLocation = (0, 0, 0) (vector) with-rotation theRotation = [ ( 0, 0, 1 ), ( 0, 1, 0 ), ( 1, 0, 0 ) ] (matrix): + self init-with-shape shape (new Shape init-with-cube size theSize) color theColor at-location theLocation with-rotation theRotation. + large=20. + + + to init-with-shape shape theShape (object) color theColor = (1, 0, 0) (vector) at-location theLocation = (0, 0, 0) (vector) with-rotation theRotation = [ ( 1, 0, 0 ), ( 0, 1, 0 ), ( 0, 0, 1 ) ] (matrix): + self register with-shape theShape at-location theLocation with-rotation theRotation. + self set-color to theColor. + + + to get-large: + return large. + + + to set-direction at theDirection (vector): + direction=theDirection. + + + to get-direction: + return direction. +} + +Link : CeldasWheel (aka CeldasWheels) { + % A CeldasWheel is used in conjunction with OBJECT(CeldasVehicle) + % to build Celdas vehicles. This class is typically not instantiated + % manually, since OBJECT(CeldasVehicle) creates one for you when you + % add a wheel to the vehicle. + + + variables: + joint (object). + velocity (float). + + + to init: + velocity = 0. + + - to set-joint to j (object): + % Used internally. + + joint = j. + + + section "Configuring the Wheel's Velocity" + + + 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. + + + to get-velocity: + % Gets the velocity of this wheel. + + return velocity. + +} + +Link : CeldasSensor (aka CeldasSensors) { + % A CeldasSensor is used in conjunction with OBJECT(CeldasVehicle) + % to build Celdas vehicles. This class is typically not instantiated + % manually, since OBJECT(CeldasVehicle) creates one for you when you + % add a sensor to the vehicle. + + + variables: + direction (vector). + positiveDirection(vector). + sensorAngle (float). + value (float). + draw (object). + body(object). + id(int). + + + to init : + direction = (1,0,1). + positiveDirection= (1,0,1). + sensorAngle = 1.6. + value = 0.0. + draw = new Drawing. + + + + section "Configuring the Sensor Values" + + to set-id at n (int): + id=n. + + + to set-body at robotBody(object): + body=robotBody. + + + to set-sensor-angle to n (float): + % Sets the angle in which this sensor can detect obstacles. The default + % value of 1.6 means that the sensor can see most of everything in + % front of it. Setting the value to be any higher leads to general + % wackiness, so I don't suggest it. + + sensorAngle = n. + + + to set-direction to n (vector): + direction = n. + positiveDirection::x=|n::x|. + positiveDirection::y=|n::y|. + positiveDirection::z=|n::z|. + + + section "Getting the Sensor Values" + + + to get-sensor-value: + % Gets the sensor value. This should be used from post-iterate, + % if not, the sensor reading correspond to the previous + % iteration. + + #+ to iterate: + + + to get-data: + i (object). + x,y,z (float). + a,b (float). + v(vector). + aux(float). + des1,des2,des3(int). + wallBegin,wallEnd (float). + + aux1,aux2,aux3,aux4 (float). + yo,toObstacle, transDir (vector). + largeWall (float). + source,destiny (vector). + obsLoc (vector). + location (vector). + posObstacle,posSensor (vector). + angulo(double). + + + transDir = (self get-rotation) * direction. + draw clear. + value = 0.0. + foreach i in (all CeldasObstacles): { + + posObstacle=i get-location. + #print "$i". + + + if(dot((i get-direction),direction)==0): + des1=1. + else + des1=0. + + des2=0. + if(dot(direction,(1,1,1))<0): + { + if((dot((self get-location),positiveDirection))>(dot(posObstacle,positiveDirection))): + des2=1. + } + else + { + if((dot((self get-location),positiveDirection))<(dot(posObstacle,positiveDirection))): + des2=1. + } + + #Compruebo que el robot este frente a la pared + wallBegin=dot((i get-location),(i get-direction) )- (i get-large)/2. + wallEnd=dot((i get-location),(i get-direction) )+ (i get-large)/2. + + + #print "begin: $wallBegin end: $wallEnd". + yo=self get-location. + destiny=i get-direction. + + + + + if (dot((self get-location),(i get-direction)) > wallBegin) && (dot((self get-location),(i get-direction)) < wallEnd): + des3=1. + else + { + des3=0. + + } + + aux1=dot((self get-location),(i get-direction)). + + print "sensor: $id obstaculo: $posObstacle direP: $destiny direS: $direction yo: $yo ". + print "dist: $aux1 begin: $wallBegin end: $wallEnd". + + v = (body get-location) - (self get-location ). + + + + print "sensor: $id , des1: $des1, des2: $des2, des3: $des3". + if ((des1) && (des2) && (des3)): + { + draw clear. + #print " posObstacle: $posObstacle". + + obsLoc::y=y=posObstacle::y. + + if (dot((i get-direction),(1,0,0))): + { + obsLoc::x=x=((self get-location)::x + ((posObstacle::z - (self get-location)::z)*v::x/v::z)). + obsLoc::z=z=posObstacle::z. + } + else + { + obsLoc::z=z=((self get-location)::z + ((posObstacle::x - (self get-location)::x)*v::z/v::x)). + obsLoc::x=x=posObstacle::x. + } + + #Dibujo el laser + + draw set-color to (1, 0, 0). + draw draw-line from (self get-location) to obsLoc. + } + + } + value = -1. + return value. + + +} diff --git a/trunk/src/breve/robot/Demo-2wheels2-5.tz b/trunk/src/breve/robot/Demo-2wheels2-5.tz new file mode 100644 index 0000000..4e44234 --- /dev/null +++ b/trunk/src/breve/robot/Demo-2wheels2-5.tz @@ -0,0 +1,36 @@ + +@use Celdas-2-5. + +@define CELDAS_MAX_TURN_VELOCITY 2. + +Controller DemoController. + +CeldasControl : DemoController { + + variables: + vehicle (object). + n (int). + + + to init: + obs(object). + + obs = new CeldasObstacle . + obs init at-location (0,1,10)with-size (20,3,1). + obs set-direction at (0,0,1) . + obs = new CeldasObstacle. + obs init at-location (-25,1,0) with-size (20,3,1). + obs set-direction at (0,0,1). + obs = new CeldasObstacle. + obs init at-location (-10,1,-10) with-size (1,3,20). + obs set-direction at (1,0,0). + + obs = new CeldasObstacle. + obs init at-location (-10,1,10) with-size (1,3,20). + obs set-direction at (1,0,0). + + vehicle = new CeldasVehicle. + self watch item vehicle. + + vehicle move to (-20, 0.8, -3). + + vehicle set-global-velocity to 15.0. +} -- 2.43.0