/// <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]);
}