94 lines
2.2 KiB
Plaintext
94 lines
2.2 KiB
Plaintext
include "vec2.bzz"
|
|
include "update.bzz"
|
|
include "barrier.bzz" # don't use a stigmergy id=11 with this header.
|
|
include "uavstates.bzz" # require an 'action' function to be defined here.
|
|
include "vstigenv.bzz"
|
|
|
|
# Lennard-Jones parameters
|
|
TARGET = 12.0
|
|
EPSILON = 18.0
|
|
|
|
# Lennard-Jones interaction magnitude
|
|
function lj_magnitude(dist, target, epsilon) {
|
|
return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
|
|
#return -(4 * epsilon) * ((target / dist)^12 - (target / dist)^6)
|
|
}
|
|
|
|
# Neighbor data to LJ interaction vector
|
|
function lj_vector(rid, data) {
|
|
return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
|
|
}
|
|
|
|
# Accumulator of neighbor LJ interactions
|
|
function lj_sum(rid, data, accum) {
|
|
return math.vec2.add(data, accum)
|
|
}
|
|
|
|
# Calculates and actuates the flocking interaction
|
|
function action() {
|
|
statef=action
|
|
# Calculate accumulator
|
|
var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
|
|
if(neighbors.count() > 0)
|
|
accum = math.vec2.scale(accum, 1.0 / neighbors.count())
|
|
|
|
if(math.vec2.length(accum) > 1.0) {
|
|
accum = math.vec2.scale(accum, 1.0 / math.vec2.length(accum))
|
|
}
|
|
|
|
# Move according to vector
|
|
print("Robot ", id, "must push ", math.vec2.length(accum) )#, "; ", math.vec2.angle(accum))
|
|
uav_moveto(accum.x, accum.y, 0.0)
|
|
UAVSTATE = "LENNARDJONES"
|
|
|
|
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
|
|
# timeW =0
|
|
# statef=land
|
|
# } else if(timeW>=WAIT_TIMEOUT/2) {
|
|
# UAVSTATE ="GOEAST"
|
|
# timeW = timeW+1
|
|
# uav_moveto(0.0, 5.0, 0.0)
|
|
# } else {
|
|
# UAVSTATE ="GONORTH"
|
|
# timeW = timeW+1
|
|
# uav_moveto(5.0, 0.0, 0.0)
|
|
# }
|
|
}
|
|
|
|
########################################
|
|
#
|
|
# MAIN FUNCTIONS
|
|
#
|
|
########################################
|
|
|
|
# Executed once at init time.
|
|
function init() {
|
|
uav_initswarm()
|
|
uav_initstig()
|
|
# TARGET_ALTITUDE = 2.5 + id * 5
|
|
statef=turnedoff
|
|
UAVSTATE = "TURNEDOFF"
|
|
}
|
|
|
|
# Executed at each time step.
|
|
function step() {
|
|
uav_rccmd()
|
|
uav_neicmd()
|
|
uav_updatestig()
|
|
|
|
statef()
|
|
|
|
log("Current state: ", UAVSTATE)
|
|
log("Swarm size: ",ROBOTS)
|
|
if(id==0)
|
|
stattab_print()
|
|
}
|
|
|
|
# Executed once when the robot (or the simulator) is reset.
|
|
function reset() {
|
|
}
|
|
|
|
# Executed once at the end of experiment.
|
|
function destroy() {
|
|
}
|