public async Task ANFIS_OutputFromFuzzy()
{
IRobotArm robotArm = new RobotArm1(10, 7, 0, 1.57, 0, 3.1);
robotArm.IsDataSetCalculated.ShouldBeFalse();
await robotArm.CalculateWholeDataSet(0.1);
await robotArm.TrainANFIS(25, 150, false);
robotArm.IsDataSetCalculated.ShouldBeTrue();
var point1 = new Point {
X = 1.10413546487088, Y = 2.81104319371924
};
var point2 = new Point {
X = 2.31665592712393, Y = 1.9375717475909
};
var point3 = new Point {
X = 2.88944142930409, Y = 16.7526454098038
};
var output1 = await robotArm.CalculateAngelsUsingANFIS(point1); // 1.1
var output2 = await robotArm.CalculateAngelsUsingANFIS(point2); // 0.6
var output3 = await robotArm.CalculateAngelsUsingANFIS(point3); // 1.4
}
/// <summary>
/// Calculate Arm Angels for given end position using trained ANFIS.
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <returns></returns>
public async Task <JsonResult> CalculateAngelsUsingANFIS(double x, double y)
{
try {
if (_robotArm == null)
{
throw new NullReferenceException("Robot Arm is not Initialized");
}
var result = await _robotArm.CalculateAngelsUsingANFIS(new Point()
{
X = x, Y = y, Z = 0
});
if (double.IsNaN(result.Theta1) || double.IsNaN(result.Theta2))
{
throw new Exception("Some of the coordinates is NaN.");
}
return(Json(new { Success = true, Outcome = result }));
} catch (Exception e) {
Console.WriteLine(e);
return(Json(new { Success = false, e.Message }));
}
}
