public void SetInputs()
{
Assert.ThrowsException <IndexOutOfRangeException>(
() => Net.SetInputs(new float[0]));
Net.SetInputs(new float[] { 5 });
var state = Net.GetState();
Assert.AreEqual(5, state[0], float.Epsilon);
Net.SetInput(0, 2);
state = Net.GetState();
Assert.AreEqual(2, state[0], float.Epsilon);
}
// Update is called once per frame
void Update()
{
hasFailed = hit.crash;
//update raycast hit distance
l = raycast.dis_l;
fl = raycast.dis_fl;
f = raycast.dis_f;
fr = raycast.dis_fr;
r = raycast.dis_fr;
if (!hasFailed)
{
dist += Time.deltaTime;
List <float> inputs = new List <float> ();
inputs.Add(Normalise(l));
inputs.Add(Normalise(fl));
inputs.Add(Normalise(f));
inputs.Add(Normalise(fr));
inputs.Add(Normalise(r));
neuralnet.SetInput(inputs);
neuralnet.refresh();
leftForce = neuralnet.GetOutput(0);
rightForce = neuralnet.GetOutput(1);
leftTheta = MAX_ROTATION * leftForce;
rightTheta = MAX_ROTATION * rightForce;
headingAngle += (leftTheta - rightTheta) * Time.deltaTime;
float speed = (Mathf.Abs(leftForce + rightForce)) / 2;
speed *= _SPEED;
speed = Clamp(speed, -_SPEED, _SPEED);
}
else
{
dist = 0.0f;
}
}
// Update is called once per frame
void Update()
{
hasFailed = hit.HasCrashed();
if (!freezeMotion && !hasFailed)
{
totalTime += Time.deltaTime;
List <float> inputs = new List <float> ();
inputs.Add(NormaliseSpeed(currSpeed));
inputs.Add(Normalise(sensor.Getdis_fl()));
inputs.Add(Normalise(sensor.Getdis_f()));
inputs.Add(Normalise(sensor.Getdis_fr()));
neuralnet.SetInput(inputs);
neuralnet.refresh();
///////ROTATION//////////
float thetaChange = neuralnet.GetOutput(0);
//These values go from 0 to 1, so lets map them
thetaChange += -0.5f; //shift down by 0.5, so it goes from -0.5 to 0.5
thetaChange *= 2f; //double, so it goes from -1 to 1
transform.Rotate(new Vector3(0, MAX_ROTATION * thetaChange * Time.deltaTime, 0));
///////TRANSLATION//////////
float acceleration = neuralnet.GetOutput(1);
//These values go from 0 to 1, so lets map them
acceleration *= 2f; //double, so it goes from 0 to 2
acceleration -= 1f; //shift down by 1, so it goes from -1 to 1
//Keep a running total of the speed
currSpeed += ACCEL_FACTOR * acceleration * Time.deltaTime;
currSpeed = Clamp(currSpeed, MIN_SPEED, MAX_SPEED);
float dir = (Mathf.PI * transform.rotation.eulerAngles.y) / 180; //convert to radians
Vector3 newsp = new Vector3(currSpeed * Mathf.Cos(dir), 0, -currSpeed * Mathf.Sin(dir));
transform.position = transform.position + (newsp * Time.deltaTime);
}
}