bool ProcessRotation()
{
double leftSignal = brain.OutputSignalArray[1];
double rightSignal = brain.OutputSignalArray[2];
double difference = rightSignal - leftSignal;
const double threshold = 0.1;
if (leftSignal < 0.75 && rightSignal < 0.75)
{
return(false);
}
else if (difference < -threshold)
{
System.Diagnostics.Debug.WriteLine("LEFT");
programMalmo.AddCommandToList("turn -1");
return(true);
}
else if (difference > threshold)
{
System.Diagnostics.Debug.WriteLine("RIGHT");
programMalmo.AddCommandToList("turn 1");
return(true);
}
else
{
// Neither RIGHT nor LEFT is much more active than
// the other, so no turning is done (moves instead)
return(false);
}
}
void OutputsToCommands()
{
System.Diagnostics.Debug.WriteLine("Outputs: " + brain.OutputSignalArray[0].ToString() + " " +
brain.OutputSignalArray[0].ToString() + " " +
brain.OutputSignalArray[1].ToString());
double leftSignal = brain.OutputSignalArray[0];
double rightSignal = brain.OutputSignalArray[1];
double difference = rightSignal - leftSignal;
const double threshold = 0.1;
if (leftSignal < 0.75 && rightSignal < 0.75)
{
System.Diagnostics.Debug.WriteLine("MOVE");
programMalmo.AddCommandToList("move 1");
}
else if (difference < -threshold)
{
System.Diagnostics.Debug.WriteLine("LEFT");
programMalmo.AddCommandToList("turn -1");
}
else if (difference > threshold)
{
System.Diagnostics.Debug.WriteLine("RIGHT");
programMalmo.AddCommandToList("turn 1");
}
else
{
// Neither RIGHT nor LEFT is much more active than
// the other, so no turning is done (moves instead)
System.Diagnostics.Debug.WriteLine("MOVE");
programMalmo.AddCommandToList("move 1");
}
}
void OutputsToCommands()
{
string frontSpeed = OutputToMovementStringValue(
brain.OutputSignalArray[0], brain.OutputSignalArray[1]);
string lateralSpeedString = OutputToMovementStringValue(
brain.OutputSignalArray[2], brain.OutputSignalArray[3]);
programMalmo.AddCommandToList("move " + frontSpeed);
programMalmo.AddCommandToList("strafe " + lateralSpeedString);
ProcessJumpOutput();
}
void OutputsToCommands()
{
/*
* System.Diagnostics.Debug.WriteLine("Outputs: " + brain.OutputSignalArray[0].ToString() + " " +
* brain.OutputSignalArray[0].ToString() + " " +
* brain.OutputSignalArray[1].ToString());*/
double frontSignal = brain.OutputSignalArray[0];
double lateralSignal = brain.OutputSignalArray[1];
if (frontSignal > lateralSignal)
{
if (frontSignal > 0.5)
{
//System.Diagnostics.Debug.WriteLine("ADVANCE");
programMalmo.AddCommandToList("move 1");
}
else
{
//System.Diagnostics.Debug.WriteLine("BACKWARDS");
programMalmo.AddCommandToList("move -1");
}
}
else
{
if (lateralSignal > 0.5)
{
//System.Diagnostics.Debug.WriteLine("RIGHT");
programMalmo.AddCommandToList("strafe 1");
}
else
{
//System.Diagnostics.Debug.WriteLine("LEFT");
programMalmo.AddCommandToList("strafe -1");
}
}
}
