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Diffstat (limited to 'examples/mamdani/ObstacleAvoidance.fcl')
| -rw-r--r-- | examples/mamdani/ObstacleAvoidance.fcl | 34 |
1 files changed, 34 insertions, 0 deletions
diff --git a/examples/mamdani/ObstacleAvoidance.fcl b/examples/mamdani/ObstacleAvoidance.fcl new file mode 100644 index 0000000..1f2bac0 --- /dev/null +++ b/examples/mamdani/ObstacleAvoidance.fcl @@ -0,0 +1,34 @@ +//Code automatically generated with fuzzylite 6.0. + +FUNCTION_BLOCK ObstacleAvoidance + +VAR_INPUT + obstacle: REAL; +END_VAR + +VAR_OUTPUT + mSteer: REAL; +END_VAR + +FUZZIFY obstacle + RANGE := (0.000 .. 1.000); + TERM left := Ramp 1.000 0.000; + TERM right := Ramp 0.000 1.000; +END_FUZZIFY + +DEFUZZIFY mSteer + RANGE := (0.000 .. 1.000); + TERM left := Ramp 1.000 0.000; + TERM right := Ramp 0.000 1.000; + METHOD : COG; + ACCU : MAX; + DEFAULT := nan; +END_DEFUZZIFY + +RULEBLOCK mamdani + ACT : PROD; + RULE 1 : if obstacle is left then mSteer is right + RULE 2 : if obstacle is right then mSteer is left +END_RULEBLOCK + +END_FUNCTION_BLOCK |