IEnumerator AICycle()
{
while (true)
{
Debug.Log("tick");
this.distance = lidar.GetDistance();
var distanceDelta = distance - targetDistance;
if (distanceDelta < -10)
{
distanceDelta = -10;
}
else if (distanceDelta > 10)
{
distanceDelta = 10;
}
distanceDelta += 10;
distanceDelta = Mathf.Abs((float)distanceDelta);
acceleration = fuzzyEngine.Defuzzify(new { Distance = distance, DistanceDelta = distanceDelta }) - 1;
controller.accelleration = (float)acceleration;
yield return(new WaitForSecondsRealtime(1));
}
}
void UpdateText()
{
if (!lidar)
{
return;
}
var dist = lidar.GetDistance();
data.text = float.IsPositiveInfinity(dist) ? "INF" : dist + "m";
}
// Update is called once per frame
void Update()
{
if (distanceFromLidar)
{
var lidarDistance = lidar.GetDistance();
controller.controllers[accelerationId].currentValue = float.IsPositiveInfinity(lidarDistance) ? 0 : lidarDistance;
}
else
{
controller.controllers[accelerationId].currentValue = myRigidbody.velocity.magnitude;
}
controller.controllers[steeringId].currentValue = transform.position.x;
}