103 lines
2.5 KiB
Plaintext
103 lines
2.5 KiB
Plaintext
include "vec2.bzz"
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include "update.bzz"
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include "barrier.bzz" # don't use a stigmergy id=11 with this header.
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include "uavstates.bzz" # require an 'action' function to be defined here.
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include "vstigenv.bzz"
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# Lennard-Jones parameters
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TARGET = 12.0
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EPSILON = 14.0
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# Lennard-Jones interaction magnitude
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function lj_magnitude(dist, target, epsilon) {
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return -(epsilon / dist) * ((target / dist)^4 - (target / dist)^2)
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#return -(4 * epsilon) * ((target / dist)^12 - (target / dist)^6)
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}
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# Neighbor data to LJ interaction vector
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function lj_vector(rid, data) {
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return math.vec2.newp(lj_magnitude(data.distance, TARGET, EPSILON), data.azimuth)
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}
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# Accumulator of neighbor LJ interactions
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function lj_sum(rid, data, accum) {
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return math.vec2.add(data, accum)
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}
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function user_attract(t) {
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fus = math.vec2.new(0.0, 0.0)
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if(size(t)>0) {
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foreach(t, function(u, tab) {
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#log("id: ",u," Range ", tab.r, "Bearing ", tab.b)
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fus = math.vec2.add(fus, math.vec2.newp(lj_magnitude(tab.r, 3 * TARGET / 4.0, EPSILON * 2.0), tab.b))
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})
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math.vec2.scale(fus, 1.0 / size(t))
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}
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#print("User attract:", fus.x," ", fus.y, " [", size(t), "]")
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return fus
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}
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# Calculates and actuates the flocking interaction
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function action() {
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statef=action
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# Calculate accumulator
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var accum = neighbors.map(lj_vector).reduce(lj_sum, math.vec2.new(0.0, 0.0))
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if(neighbors.count() > 0)
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accum = math.vec2.scale(accum, 1.0 / neighbors.count())
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#accum = math.vec2.add(accum, user_attract(users.dataL))
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#accum = math.vec2.scale(accum, 1.0 / 2.0)
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if(math.vec2.length(accum) > 1.0) {
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accum = math.vec2.scale(accum, 1.0 / math.vec2.length(accum))
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}
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# Move according to vector
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print("Robot ", id, "must push ", math.vec2.length(accum) )#, "; ", math.vec2.angle(accum))
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uav_moveto(accum.x, accum.y)
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UAVSTATE = "LENNARDJONES"
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# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
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# timeW =0
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# statef=land
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# } else if(timeW>=WAIT_TIMEOUT/2) {
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# UAVSTATE ="GOEAST"
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# timeW = timeW+1
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# uav_moveto(0.0,5.0)
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# } else {
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# UAVSTATE ="GONORTH"
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# timeW = timeW+1
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# uav_moveto(5.0,0.0)
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# }
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}
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########################################
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#
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# MAIN FUNCTIONS
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#
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########################################
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# Executed once at init time.
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function init() {
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uav_initswarm()
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}
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# Executed at each time step.
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function step() {
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uav_rccmd()
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uav_neicmd()
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statef()
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log("Current state: ", UAVSTATE)
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log("Swarm size: ",ROBOTS)
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}
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# Executed once when the robot (or the simulator) is reset.
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function reset() {
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}
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# Executed once at the end of experiment.
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function destroy() {
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}
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