IEnumerator FeedForward()
{
while (true)
{
for (int i = 0; i < 5; i++)
{
InputNeurons[i].CleanInput();
InputNeurons[i].AddInput(sensors.Sensorium[i]);
}
foreach (Neuron item in InputNeurons)
{
item.Prime();
}
foreach (Neuron item in HiddenNeurons)
{
item.Prime();
}
foreach (Neuron item in OutputNeurons)
{
item.Prime();
}
if (OutputNeurons[0].Output > OutputNeurons[0].Threshhold)
{
carctrl.TurnLeft();
}
if (OutputNeurons[1].Output > OutputNeurons[1].Threshhold)
{
carctrl.TurnRight();
}
if (TestCar)
{
Debug.Log(allconnections[0].Weight);
Debug.Log(allconnections[1].Weight);
Debug.Log(allconnections[2].Weight);
Debug.Log(allconnections[3].Weight);
Debug.Log("output Neuron 0 = " + OutputNeurons[0].Output + " Output Neuron 1 = " + OutputNeurons[1].Output);
}
yield return(null);
}
}
void OnTriggerStay(Collider other)
{
if (alive)
{
if (other.gameObject.CompareTag("Lane_Separator") || other.gameObject.CompareTag("Car"))
{
carControl.TurnRight();
}
alive = carControl.IsMoving();
}
}
IEnumerator AIThing()
{
while (true)
{
float leftbias, rightbias;
leftbias = Sensorium[0] + Sensorium[1] + Sensorium[2];
rightbias = Sensorium[2] + Sensorium[4] + Sensorium[3];
if (leftbias > courage && leftbias > rightbias)
{
ctrl.TurnRight();
}
if (rightbias > courage && rightbias > leftbias)
{
ctrl.TurnLeft();
}
yield return(null);
}
}