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@ -21,7 +21,7 @@
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var simInfo = { |
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maxSteps: 50000, // maximal number of simulation steps to run
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airDrag: 0.1, // "air" friction of enviroment; 0 is vacuum, 0.9 is molasses
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boxFric: 0.005, // friction between boxes during collisions
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boxFric: 0.001, // friction between boxes during collisions
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boxMass: 0.01, // mass of boxes
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boxSize: 10, // size of the boxes, in pixels
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robotSize: 13, // approximate robot radius, in pixels (note the SVG gets scaled down)
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@ -30,25 +30,20 @@ var simInfo = {
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bayScale: 2, // scale within 2nd, inset canvas showing robot in it's "bay"
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debugSensors: true, // plot sensor rays and mark detected objects
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debugMouse: true, // allow dragging any object with the mouse
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wanderRate: 0.0002, |
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}; |
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class Lemming extends Robot { |
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constructor(props) { |
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super(Object.assign({ |
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sensors: [ |
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new DistanceSensor('distR', { |
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attachAngle: Math.PI/(2.5), // where the sensor is mounted on robot body
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color: [150, 0, 0], // sensor color [in RGB], to distinguish them
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lookAngle: (Math.PI/7 - Math.PI/(2.5)), |
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attachRadius: 20 |
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}), |
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// define another sensor
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new DistanceSensor('distL', { |
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new DistanceSensor('dist', { |
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attachAngle: -Math.PI/7, |
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color: [0, 150, 0],
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attachRadius: 20 |
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attachRadius: 20, |
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lookAngle: Math.PI/4, |
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}), |
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new Gyroscope('gyro', { |
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attachAngle: 0, |
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attachRadius: 5, |
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color: [100,100,0] |
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}), |
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@ -60,33 +55,26 @@ class Lemming extends Robot {
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dist: 5, |
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width: 15, |
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}), |
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new DistanceSensor('wallR', { |
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attachAngle: Math.PI/2.5, // where the sensor is mounted on robot body
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color: [150, 0, 0], // sensor color [in RGB], to distinguish them
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filter: x => x.role == 'wall', |
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lookAngle: (Math.PI/7 - Math.PI/2.5), |
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attachRadius: 20, |
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}), |
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// define another sensor
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new DistanceSensor('wallL', { |
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new DistanceSensor('wall', { |
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attachAngle: -Math.PI/7, |
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color: [0, 150, 0],
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filter: x => x.role == 'wall', |
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attachRadius: 20 |
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filter: x => x.role != 'box', |
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attachRadius: 20, |
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lookAngle: Math.PI/4, |
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}), |
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].concat(props.sensors || []) |
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}, props)) |
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} |
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turnDeg(rads, cb) { |
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if (Math.abs(rads) >= 320) |
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return this.turnDeg(320, x => this.turnDeg(rads -320, cb)) |
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const torque = Math.sign(rads) * 0.01 |
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turnDeg(degs, cb) { |
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if (Math.abs(degs) >= 320) |
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return this.turnDeg(320, x => this.turnDeg(degs -320, cb)) |
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const torque = Math.sign(degs) * 0.002 |
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const start = this.getSensorValById('gyro') |
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this.move = function() { |
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const curAngle = this.getSensorValById('gyro') |
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const turned = ((curAngle - start) * Math.sign(rads) + 360) % 360 |
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if (turned < 340 && (turned - Math.abs(rads) > 0)) { |
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const turned = ((curAngle - start) * Math.sign(degs) + 360) % 360 |
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if (turned < 340 && (turned - Math.abs(degs) > 0)) { |
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delete this.move |
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if (cb) cb() |
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} else { |
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@ -97,7 +85,7 @@ class Lemming extends Robot {
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move() { |
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//if (sim.curSteps % 250 == 0) this.turnDeg(-90)
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// TODO: Define Lemming program here.
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const {carry: [r,g,b], distL, distR, wallL, wallR} = this.getSensors() |
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const {carry: [r,g,b], dist, wall} = this.getSensors() |
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let block = 0 |
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if (r > (g+b)) { |
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block = 'red' |
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@ -105,13 +93,13 @@ class Lemming extends Robot {
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block = 'blue' |
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} |
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this.block = block |
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if (distL < wallL - 5 || distR < wallR - 5) { |
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if (dist < wall - 5) { |
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this.state = 'block' |
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// if it senses a block
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if (!block) return this.drive(2e-4) // no block: drive towards block?
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if (block == 'blue') void 0; // if blue: ignore
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if (block == 'red') return this.turnDeg(-90) // if red: leave block
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} else if (wallL < Infinity || wallR < Infinity) { |
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} else if (wall < Infinity) { |
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this.state = 'wall' |
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// no block: turn left or right
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if (!block) return this.turnDeg(90 * (Math.random() < 0.5 ? -1 : 1)) |
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@ -121,14 +109,16 @@ class Lemming extends Robot {
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this.state = 'nothing' |
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} |
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// by default: wander
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this.rotate(+0.001); |
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this.rotate(simInfo.wanderRate); |
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this.drive(0.0002); |
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} |
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getDisplay() { |
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return "carrying " + this.block + "\nseeing " + this.state |
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return "carrying " + (this.block || "no") + " block seeing " + this.state |
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} |
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} |
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var sim = null |
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var resultsTable = null |
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let sim_id_counter = 0 |
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class Simulation { |
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constructor() { |
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this.bay = null |
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@ -139,6 +129,7 @@ class Simulation {
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this.curSteps = 0 |
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this.doContinue = false |
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this.robots = [] |
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this.id = sim_id_counter++ |
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} |
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init() { |
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const arena = document.getElementById("arenaLemming"), |
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@ -229,7 +220,7 @@ class Simulation {
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padnumber(simInfo.maxSteps, 5); |
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} |
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else { |
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this.toggle() |
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this.stop() |
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} |
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} |
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draw() { |
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