void Update()
{
float leftLightSensor;
float rightLightSensor;
if (gaussian) // caso a boolean gaussiana esteja ativada a strenght das rodas irá ser calculada pela função gaussiana
//Read light sensor values
{
leftLightSensor = LeftLD.GetGaussianOutput();
rightLightSensor = RightLD.GetGaussianOutput();
}
else // caso a boolean gaussiana NÃO esteja ativada a strenght das rodas irá ser calculada linearmente
//sem sofrer alterações da funçao normal
//Read light sensor values
{
leftLightSensor = LeftLD.GetLinearOutput();
rightLightSensor = RightLD.GetLinearOutput();
}
//Read obstacle sensor values
float leftObstacleSensor = LeftOD.GetLinearOutput();
float rightObstacleSensor = RightOD.GetLinearOutput();
// Calculate target motor values
// LightSensors estão ligados cruzados e ObstacleSensor estão ligados diretamente
m_LeftWheelSpeed = (rightLightSensor + leftObstacleSensor) * MaxSpeed;
m_RightWheelSpeed = (leftLightSensor + rightObstacleSensor) * MaxSpeed;
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
m_LeftWheelSpeed = (rightSensor * MaxSpeed) * 7;
m_RightWheelSpeed = (leftSensor * MaxSpeed) * 7;
}
// Update is called once per frame
void Update()
{
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
m_LeftWheelSpeed = leftSensor * MaxSpeed;
m_RightWheelSpeed = rightSensor * MaxSpeed;
//Calculate target motor values
//A velocidade das rodas é inversamente proporcional ao output dos sensores
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
//Sensor da direita influencia roda da esquerda e vice-versa
m_LeftWheelSpeed = rightSensor * MaxSpeed;
m_RightWheelSpeed = leftSensor * MaxSpeed;
float westObjectSensor = westOD.getOutput();
float eastObjectSensor = eastOD.getOutput();
m_LeftWheelSpeed += (1 / westObjectSensor) * MaxSpeed;
m_RightWheelSpeed += (1 / eastObjectSensor) * MaxSpeed;
}
void Update()
{
//Read sensor values
//sensores de luz
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//sensores de proximidade
float leftRaySensor = RRcast.getDistancia();
float rightRaySensor = RRcast.getDistancia();
//Calculate target motor values
//usa a fórmula de relé (a+b-a*b)
//quando não detecta nada na proximidade são os sensores de luz que controlam as rodas, estando o da direita ligado ao esquerdo e vice-versa.
//quando detecta algo na frente ignora os imputs das luzes e gira as rodas em setidos opostos (com velocidade dependente da distância ao objecto) e vira-o para a dirita
//até não ter nada nos sensores, passando as luzes novamente a controlar as rodas.
m_LeftWheelSpeed = (((leftRaySensor + rightRaySensor) / 2) + rightSensor - ((leftRaySensor + rightRaySensor) / 2) * rightSensor) * MaxSpeed;
m_RightWheelSpeed = (-((leftRaySensor + rightRaySensor) / 2) + leftSensor - -(((leftRaySensor + rightRaySensor) / 2)) * leftSensor) * MaxSpeed;
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
//A velocidade das rodas é inversamente proporcional ao output dos sensores
m_LeftWheelSpeed = (1 / leftSensor) * MaxSpeed;
m_RightWheelSpeed = (1 / rightSensor) * MaxSpeed;
float westObjectSensor = westOD.getOutput();
float eastObjectSensor = eastOD.getOutput();
m_LeftWheelSpeed += (1 / westObjectSensor) * MaxSpeed;
m_RightWheelSpeed += (1 / eastObjectSensor) * MaxSpeed;
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.GetLinearOutput();
float rightSensor = RightLD.GetLinearOutput();
//Calculate target motor values
if (m_LeftWheelSpeed > 5)
{
m_LeftWheelSpeed = leftSensor * MaxSpeed;
m_RightWheelSpeed = rightSensor * MaxSpeed * 1.5f;
}
else
{
m_LeftWheelSpeed = leftSensor * MaxSpeed * 1.5f;
m_RightWheelSpeed = rightSensor * MaxSpeed;
}
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
m_LeftWheelSpeed = leftSensor * MaxSpeed;
m_RightWheelSpeed = rightSensor * MaxSpeed;
float westObjectSensor = westOD.getOutput();
float eastObjectSensor = eastOD.getOutput();
m_LeftWheelSpeed += (1 / westObjectSensor) * MaxSpeed;
m_RightWheelSpeed += (1 / eastObjectSensor) * MaxSpeed;
//Calcular os outputs dos sensores
//Conforme os outputs rodar o carro
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
m_LeftWheelSpeed = leftSensor * MaxSpeed;
m_RightWheelSpeed = rightSensor * MaxSpeed;
//Calcular os outputs dos sensores
bool northSensor = northOD.getOutput();
bool southSensor = southOD.getOutput();
bool eastSensor = eastOD.getOutput();
bool westSensor = westOD.getOutput();
//Conforme os outputs rodar o carro
if (northSensor)
{
if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (westSensor)
{
if (!northSensor)
{
transform.root.transform.Rotate(0, 0, 0);
}
else if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (eastSensor)
{
if (!northSensor)
{
transform.root.transform.Rotate(0, 0, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (southSensor)
{
if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
}
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.GetGaussianOutput();
float rightSensor = RightLD.GetGaussianOutput();
// strength
if (leftSensor < limiarMinimo)
{
leftSensor = limiarMinimo;
}
else if (leftSensor > limiarMaximo)
{
leftSensor = limiarMaximo;
}
if (rightSensor < limiarMinimo)
{
rightSensor = limiarMinimo;
}
else if (rightSensor > limiarMaximo)
{
rightSensor = limiarMaximo;
}
// read sensor values - blocks
float leftSensorBlock = LeftBD.GetLinearOutput();
float rightSensorBlock = RightBD.GetLinearOutput();
if (leftSensorBlock < limiarMinimo)
{
leftSensorBlock = limiarMinimo;
}
else if (leftSensorBlock > limiarMaximo)
{
leftSensorBlock = limiarMaximo;
}
if (rightSensorBlock < limiarMinimo)
{
rightSensorBlock = limiarMinimo;
}
else if (rightSensorBlock > limiarMaximo)
{
rightSensorBlock = limiarMaximo;
}
//Calculate target motor values
m_LeftWheelSpeed = ((leftSensor + leftSensorBlock) * MaxSpeed);
m_RightWheelSpeed = ((rightSensor + rightSensorBlock) * MaxSpeed);
// output
if (m_LeftWheelSpeed < limiteInferior)
{
m_LeftWheelSpeed = limiteInferior;
}
else if (m_LeftWheelSpeed > limiteSuperior)
{
m_LeftWheelSpeed = limiteSuperior;
}
if (m_RightWheelSpeed < limiteInferior)
{
m_RightWheelSpeed = limiteInferior;
}
else if (m_RightWheelSpeed > limiteSuperior)
{
m_RightWheelSpeed = limiteSuperior;
}
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.getLinearOutput();
float rightSensor = RightLD.getLinearOutput();
//Calculate target motor values
//A velocidade das rodas é inversamente proporcional ao output dos sensores
//Sensor da direita influencia roda da esquerda e vice-versa
Debug.Log(leftSensor);
m_LeftWheelSpeed = (1 / leftSensor) * MaxSpeed;
m_RightWheelSpeed = (1 / rightSensor) * MaxSpeed;
//Calcular os outputs dos sensores
bool northSensor = northOD.getOutput();
bool southSensor = southOD.getOutput();
bool eastSensor = eastOD.getOutput();
bool westSensor = westOD.getOutput();
//Conforme os outputs rodar o carro
if (northSensor)
{
if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (westSensor)
{
if (!northSensor)
{
transform.root.transform.Rotate(0, 0, 0);
}
else if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (eastSensor)
{
if (!northSensor)
{
transform.root.transform.Rotate(0, 0, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
else if (!southSensor)
{
transform.root.transform.Rotate(0, 180, 0);
}
}
if (southSensor)
{
if (!eastSensor)
{
transform.root.transform.Rotate(0, 10, 0);
}
else if (!westSensor)
{
transform.root.transform.Rotate(0, -10, 0);
}
}
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.GetLinearOutput();
float rightSensor = RightLD.GetLinearOutput();
//float leftBlockSensor = LeftBD.GetLinearOutput ();
//float rightBlockSensor = RightBD.GetLinearOutput ();
float speed;
//Calculate target motor values
switch (escolha)
{
//Caso linear 1
case 1:
m_LeftWheelSpeed = (leftSensor /*+ leftBlockSensor*/) * MaxSpeed;
m_RightWheelSpeed = (rightSensor /*+ rightBlockSensor*/) * MaxSpeed;
break;
//Caso linear 2
case 2:
//Sensor Esquerda
if (leftSensor > minLimiar && leftSensor < maxLimiar)
{
m_LeftWheelSpeed = (leftSensor /*+ leftBlockSensor*/) * MaxSpeed;
}
else
{
m_LeftWheelSpeed = 0;
}
//Sensor Direita
if (rightSensor > minLimiar && rightSensor < maxLimiar)
{
m_RightWheelSpeed = (rightSensor /*+ rightBlockSensor*/) * MaxSpeed;
}
else
{
m_RightWheelSpeed = 0;
}
break;
//Caso linear 3
case 3:
//Sensor Esquerda
if (leftSensor > minLimiar && leftSensor < maxLimiar)
{
float y = (leftSensor /*+ leftBlockSensor*/);
if (y > botLimit && y < topLimit)
{
m_LeftWheelSpeed = y;
}
else if (y < botLimit)
{
m_LeftWheelSpeed = botLimit;
}
else if (y > topLimit)
{
m_LeftWheelSpeed = topLimit;
}
}
else
{
m_LeftWheelSpeed = botLimit;
}
if (rightSensor > minLimiar && rightSensor < maxLimiar)
{
float y = (rightSensor /*+ leftBlockSensor*/);
if (y > botLimit && y < topLimit)
{
m_RightWheelSpeed = y;
}
else if (y < botLimit)
{
m_RightWheelSpeed = botLimit;
}
else if (y > topLimit)
{
m_RightWheelSpeed = topLimit;
}
}
else
{
m_RightWheelSpeed = botLimit;
}
m_RightWheelSpeed = m_RightWheelSpeed * MaxSpeed;
m_LeftWheelSpeed = m_LeftWheelSpeed * MaxSpeed;
break;
case 7:
//Sensor Esquerda
if (leftSensor > minLimiar && leftSensor < maxLimiar)
{
float y = (1 - leftSensor);
if (y > botLimit && y < topLimit)
{
m_LeftWheelSpeed = y;
}
else if (y < botLimit)
{
m_LeftWheelSpeed = botLimit;
}
else if (y > topLimit)
{
m_LeftWheelSpeed = topLimit;
}
}
else
{
m_LeftWheelSpeed = botLimit;
}
if (rightSensor > minLimiar && rightSensor < maxLimiar)
{
float y = (1 - rightSensor);
if (y > botLimit && y < topLimit)
{
m_RightWheelSpeed = y;
}
else if (y < botLimit)
{
m_RightWheelSpeed = botLimit;
}
else if (y > topLimit)
{
m_RightWheelSpeed = topLimit;
}
}
else
{
m_RightWheelSpeed = botLimit;
}
m_RightWheelSpeed = m_RightWheelSpeed * MaxSpeed;
m_LeftWheelSpeed = m_LeftWheelSpeed * MaxSpeed;
break;
//Caso gaussiana 1 (Fórmula encontrada na Wikipédia)
case 4:
m_LeftWheelSpeed = Mathf.Exp((-Mathf.Pow(leftSensor - media, 2) / (2.0f * Mathf.Pow(desvio, 2)))) * MaxSpeed;
m_RightWheelSpeed = Mathf.Exp((-Mathf.Pow(rightSensor - media, 2) / (2.0f * Mathf.Pow(desvio, 2)))) * MaxSpeed;
print("left " + m_LeftWheelSpeed + " right " + m_RightWheelSpeed + "\n");
break;
//Caso gaussiana 2 - limite esquerda e direita
case 5:
//Sensor Esquerda
if (leftSensor > minLimiar && leftSensor < maxLimiar)
{
m_LeftWheelSpeed = Mathf.Exp((-Mathf.Pow(leftSensor - media, 2) / (2.0f * Mathf.Pow(desvio, 2)))) * MaxSpeed;
}
else
{
m_LeftWheelSpeed = 0;
}
//Sensor Direita
if (rightSensor > minLimiar && rightSensor < maxLimiar)
{
m_RightWheelSpeed = Mathf.Exp((-Mathf.Pow(rightSensor - media, 2) / (2.0f * Mathf.Pow(desvio, 2)))) * MaxSpeed;
}
else
{
m_RightWheelSpeed = 0;
}
break;
//Caso gaussiana 3
case 6:
//Sensor Esquerda
if (leftSensor < minLimiar || leftSensor > maxLimiar)
{
leftSensor = minLimiar;
}
//Cálculo da gaussiana
speed = Mathf.Exp(-Mathf.Pow(leftSensor - media, 2) / (2 * Mathf.Pow(desvio, 2)));
if (speed > topLimit)
{
speed = topLimit;
}
else if (speed < botLimit)
{
speed = botLimit;
}
m_RightWheelSpeed = speed * MaxSpeed;
//Sensor Direita
if (rightSensor < minLimiar || rightSensor > maxLimiar)
{
rightSensor = minLimiar;
}
//Cálculo da gaussiana
speed = Mathf.Exp(-Mathf.Pow(rightSensor - media, 2) / (2 * Mathf.Pow(desvio, 2)));
if (speed > topLimit)
{
speed = topLimit;
}
else if (speed < botLimit)
{
speed = botLimit;
}
m_LeftWheelSpeed = speed * MaxSpeed;
break;
//Caso gaussiana ->elipse
}
if (troca == true)
{
float temp = m_RightWheelSpeed;
m_RightWheelSpeed = m_LeftWheelSpeed;
m_LeftWheelSpeed = temp;
}
}
