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 = leftSensor * MaxSpeed;
m_RightWheelSpeed = rightSensor * MaxSpeed;
}
void Update()
{
//Read sensor values
float leftSensor = LeftLD.GetLinearOutput();
float rightSensor = RightLD.GetLinearOutput();
// 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 = ((1 - (leftSensor + leftSensorBlock)) * MaxSpeed);
m_RightWheelSpeed = ((1 - (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();
//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;
}
}
void Update()
{
//InvertedLinear - nome funcao
//Gaussian - nome funcao
//Read sensor values
float leftSensor = LeftLD.GetLinearOutput(); // Gaussiana?
float rightSensor = RightLD.GetLinearOutput();
// 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
// troca sensor de roda
m_LeftWheelSpeed = ((rightSensor + leftSensorBlock) * MaxSpeed);
m_RightWheelSpeed = ((leftSensor + 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;
}
}