public static float getRule04()
{
float a = Deviation.uR(de);
burning += a;
return(a * left(a));
// return a * straight (a);
}
public static float getRule09()
{
float uDi = Distance.uN(di);
float uDe = Deviation.uR(de);
float a = Mathf.Min(uDi, uDe);
float b = uDi * uDe;
burning += b;
return(b * slower(a));
}
public static float getRule04()
{
float uDe = Deviation.uFL(de);
float uDi = Distance.uN(di);
float uDf = Deviation.uR(df);
float a = Mathf.Min(uDe, Mathf.Min(uDi, uDf));
float b = uDe * uDi * uDf;
burning += b;
return(b * Steerage.right(a));
}
public static float getRule03()
{
float uTimeL = LightStatus.uG(timeL);
float uDe = Deviation.uR(de);
float b = uTimeL * uDe;
float a = Mathf.Min(uTimeL, uDe);
float r1 = (a + 1f) / 3.33f;
float r2 = (4f - a) / 5f;
sumBurning += b;
return(b * (r1 + r2) / 2f);
}
public static float getRule08()
{
float uDi = Distance.uF(di);
float uDe = Deviation.uR(de);
float b = uDi * uDe;
float a = 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 getRule35()
{
float uTimeL = LightStatus.uLR(timeL);
float uDi = Distance.uM(di);
float uDe = Deviation.uR(de);
float b = uTimeL * uDi * uDe;
float a = Mathf.Min(uTimeL, Mathf.Min(uDi, uDe));
float r1 = (0.11f + a) / 4.44f;
float r2 = (2f - a) / 4f;
sumBurning += b;
return(b * (r1 + r2) / 2f);
}
public static float getRule25()
{
float uTimeL = LightStatus.uLG(timeL);
float uDi = Distance.uM(di);
float uDe = Deviation.uR(de);
float b = uTimeL * uDi * uDe;
float a = Mathf.Min(uTimeL, Mathf.Min(uDi, uDe));
float r1 = (a + 1f) / 3.33f;
float r2 = (4f - a) / 5f;
sumBurning += b;
return(b * (r1 + r2) / 2f);
}
