public RightWheelFLS()
{
angle = new RelativeAngle(1);
distance = new Distance(2);
torque = new Torque(3);
listInput = new List <FuzzySet <IInputFuzzyMember> >()
{
angle, distance
};
var rules = CreateRules();
var ruleBase = new EvaluationTreeRuleBase(listInput, torque, rules);
fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), ruleBase);
}
public ShootingLeftWheelFLS(IFuzzyRuleBase ruleBase)
{
robotBallAngle = FuzzyShootingUtil.RobotBallAngleSet;
goalBallAngle = FuzzyShootingUtil.GoalBallAngleSet;
robotGoalAngle = FuzzyShootingUtil.RobotGoalAngleSet;
distance = FuzzyShootingUtil.DistanceSet;
torque = FuzzyShootingUtil.TorqueSet;
listInput = new List <FuzzySet <IInputFuzzyMember> >()
{
robotBallAngle, goalBallAngle, robotGoalAngle, distance
};
fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), ruleBase);
}
