public static float getRule03()
{
float a = Deviation.uM(de);
burning += a;
return(a * straight(a));
//return a * hardRight (a);
}
public static float getRule08()
{
float uDi = Distance.uN(di);
float uDe = Deviation.uM(de);
float a = Mathf.Min(uDi, uDe);
float b = uDi * uDe;
burning += b;
return(b * slower(a));
}
public static float getRule03()
{
float uDe = Deviation.uFL(de);
float uDi = Distance.uN(di);
float uDf = Deviation.uM(df);
float a = Mathf.Min(uDe, Mathf.Min(uDi, uDf));
float b = uDe * uDi * uDf;
burning += b;
return(b * Steerage.straight(a));
}
public static float getRule06()
{
float uDi = Distance.uF(di);
float uDe = Deviation.uM(de);
float b = uDi * uDe;
float a = Mathf.Min(uDi, uDe);
float r1 = (3.5f + a) / 5f;
float r2 = 1f;
sumBurning += b;
return(b * (r1 + r2) / 2f);
}
public static float getRule01()
{
float uTimeL = LightStatus.uG(timeL);
float uDe = Deviation.uM(de);
float b = uTimeL * uDe;
float a = Mathf.Min(uTimeL, uDe);
float r1 = (a + 3.5f) / 5f;
float r2 = 1f;
sumBurning += b;
return(b * (r1 + r2) / 2f);
}
public static float getRule33()
{
float uTimeL = LightStatus.uLR(timeL);
float uDi = Distance.uM(di);
float uDe = Deviation.uM(de);
float b = uTimeL * uDi * uDe;
float a = Mathf.Min(uTimeL, Mathf.Min(uDi, uDe));
float r1 = (1f + a) / 3.33f;
float r2 = (4f - a) / 5f;
sumBurning += b;
return(b * (r1 + r2) / 2f);
}
public static float getRule28()
{
float uTimeL = LightStatus.uLG(timeL);
float uDi = Distance.uN(di);
float uDe = Deviation.uM(de);
float b = uTimeL * uDi * uDe;
float a = Mathf.Min(uTimeL, Mathf.Min(uDi, uDe));
float r1 = (a + 0.11f) / 4.44f;
float r2 = (2f - a) / 4f;
sumBurning += b;
return(b * (r1 + r2) / 2f);
}