diff options
Diffstat (limited to 'examples/takagi-sugeno/ObstacleAvoidance.fcl')
-rw-r--r-- | examples/takagi-sugeno/ObstacleAvoidance.fcl | 33 |
1 files changed, 33 insertions, 0 deletions
diff --git a/examples/takagi-sugeno/ObstacleAvoidance.fcl b/examples/takagi-sugeno/ObstacleAvoidance.fcl new file mode 100644 index 0000000..fc4348b --- /dev/null +++ b/examples/takagi-sugeno/ObstacleAvoidance.fcl @@ -0,0 +1,33 @@ +//Code automatically generated with fuzzylite 6.0. + +FUNCTION_BLOCK ObstacleAvoidance + +VAR_INPUT + obstacle: REAL; +END_VAR + +VAR_OUTPUT + tsSteer: 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 tsSteer + RANGE := (0.000 .. 1.000); + TERM left := 0.333; + TERM right := 0.666; + METHOD : COGS; + ACCU : MAX; + DEFAULT := nan; +END_DEFUZZIFY + +RULEBLOCK takagiSugeno + RULE 1 : if obstacle is left then tsSteer is right + RULE 2 : if obstacle is right then tsSteer is left +END_RULEBLOCK + +END_FUNCTION_BLOCK |