35 lines
631 B
Plaintext
35 lines
631 B
Plaintext
//Code automatically generated with fuzzylite 6.0.
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FUNCTION_BLOCK ObstacleAvoidance
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VAR_INPUT
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obstacle: REAL;
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END_VAR
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VAR_OUTPUT
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mSteer: REAL;
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END_VAR
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FUZZIFY obstacle
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RANGE := (0.000 .. 1.000);
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TERM left := Ramp 1.000 0.000;
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TERM right := Ramp 0.000 1.000;
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END_FUZZIFY
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DEFUZZIFY mSteer
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RANGE := (0.000 .. 1.000);
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TERM left := Ramp 1.000 0.000;
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TERM right := Ramp 0.000 1.000;
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METHOD : COG;
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ACCU : MAX;
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DEFAULT := nan;
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END_DEFUZZIFY
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RULEBLOCK mamdani
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ACT : PROD;
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RULE 1 : if obstacle is left then mSteer is right
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RULE 2 : if obstacle is right then mSteer is left
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END_RULEBLOCK
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END_FUNCTION_BLOCK
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