private CrispInput GenerateInputFromSensors()
{
CrispInput input;
float speed = sensor.Speed;
float normalisedSpeed = NormaliseSpeed(speed);
float?forwardDistance = sensor.ForwardRayHitDistance;
float normalisedForwardDistance = NormaliseDistance(forwardDistance, neutralForwardDistance, largeForwardDistance);
float?rightDistance = sensor.RightRayHitDistance;
float normalisedRighDistance = NormaliseDistance(rightDistance, neutralRightDistance, largeRightDistance);
float?leftDistance = sensor.LeftRayHitDistance;
float normalisedLeftDistance = NormaliseDistance(leftDistance, neutralLeftDistance, largeLeftDistance);
Vector3?forwardSucfaceNormal = sensor.ForwardRayCollisionNormal;
float normalisedForwardSurfaceNormal;
normalisedForwardSurfaceNormal = NormaliseSurfaceAngle(forwardSucfaceNormal, forwardMinAngle, forwardMaxAngle);
input = new CrispInput();
input[CrispInput.Inputs.Speed] = normalisedSpeed;
input[CrispInput.Inputs.ForwardDistance] = normalisedForwardDistance;
input[CrispInput.Inputs.RightDistance] = normalisedRighDistance;
input[CrispInput.Inputs.LeftDistance] = normalisedLeftDistance;
input[CrispInput.Inputs.ForwardSurfaceNormal] = normalisedForwardSurfaceNormal;
return(input);
}
private void RunFuzzy()
{
float[] minValues = new float[CrispInput.NumberOfVariables] {
Input1Min, Input2Min, -1
};
float[] neutralValues = new float[CrispInput.NumberOfVariables] {
0, 0, 0
};
float[] maxValues = new float[CrispInput.NumberOfVariables] {
Input1Max, Input2Max, 1
};
CrispInput crispInput = fuzzySystem.BuildInputNormalisedUneven(new float[] { crispInput1, crispInput2, crispInput3 }, minValues, neutralValues, maxValues);
Debug.Log($"In log {crispInput1} -> {crispInput[CrispInput.Inputs.Input1]}");
CrispOutput normalisedCrispOutput = fuzzySystem.FuzzyCompute(crispInput);
CrispOutput unNormalisedOutput = fuzzySystem.UnNormaliseOutputUneven(normalisedCrispOutput, minValues, neutralValues, maxValues);
Debug.Log($"Out log {normalisedCrispOutput[CrispOutput.Outputs.Output1]} -> {unNormalisedOutput[CrispOutput.Outputs.Output1]}");
}
private void DebugOutLots(CrispInput inputVals, CrispOutput outputVals)
{
Debug.Log("=====Case=====");
foreach (var input in CrispInput.InputEnumvalues)
{
Debug.Log($"Input: {input.ToString()} -> {inputVals[input]}");
}
Debug.Log("=====Ouputs=====");
foreach (var output in CrispOutput.OutputEnumvalues)
{
Debug.Log($"Output: {output.ToString()} -> {outputVals[output]}");
}
Debug.Log("=====End-Case=====");
}
/// <summary>
/// Returns <c>(float, float)</c> tuple representing <see cref="FuzzyCartController.fuzzySystem"/>'s confidence that actions (drive, turn) should be taken, and the polarity of those actions.
/// Based off the current values from <see cref="FuzzyCartController.sensor"/>
/// </summary>
/// <returns>A <c>(float, float)</c> tuple representing the actions (drive, turn)</returns>
public (float, float) GetInstructions()
{
CrispInput input = GenerateInputFromSensors();
CrispOutput output = fuzzySystem.EvaluateFuzzyLogic(input);
if (!Input.GetKey(KeyCode.Space))
{
DebugOutLight(output);
}
else if (debug)
{
DebugOutLots(input, output);
}
output = ValidateOutput(output);
return(output[CrispOutput.Outputs.ForwardBackwards], output[CrispOutput.Outputs.LeftRight]);
}