1 files changed, 25 insertions, 0 deletions
diff --git a/examples/takagi-sugeno/ObstacleAvoidance.fll b/examples/takagi-sugeno/ObstacleAvoidance.fll
new file mode 100644
index 0000000..10b53f4
--- /dev/null
+++ b/examples/takagi-sugeno/ObstacleAvoidance.fll
@@ -0,0 +1,25 @@
+Engine: ObstacleAvoidance
+InputVariable: obstacle
+  enabled: true
+  range: 0.000 1.000
+  lock-range: false
+  term: left Ramp 1.000 0.000
+  term: right Ramp 0.000 1.000
+OutputVariable: tsSteer
+  enabled: true
+  range: 0.000 1.000
+  lock-range: false
+  aggregation: Maximum
+  defuzzifier: WeightedAverage Automatic
+  default: nan
+  lock-previous: false
+  term: left Constant 0.333
+  term: right Constant 0.666
+RuleBlock: takagiSugeno
+  enabled: true
+  conjunction: none
+  disjunction: none
+  implication: none
+  activation: General
+  rule: if obstacle is left then tsSteer is right
+  rule: if obstacle is right then tsSteer is left
+\ No newline at end of file