FuzzScript - A Fuzzy Logic Control Language

//---------------------------------------------------------------------------------------
//	Fuzzy Robot Controller
//
//	Author:	cg
//	Date:	April 2009
//	Desc:	Fuzzy Robot Controller using FuzzScript version 1.0
//			Robot has 2 ultrasonic sensors.
//---------------------------------------------------------------------------------------

KnowledgeBase
{
	InputVariable SENSORLEFT [0, 2000]
	{
		LShoulder (vnear, 20, 40)
		Triangular (near, 10, 55, 100)
		Triangular (medium, 60, 100, 140)
		Triangular (far, 120, 150, 180)
		RShoulder (vfar, 160, 170)
	}

	InputVariable SENSORMIDDLE [0, 2000]
	{
		LShoulder (vnear, 20, 40)
		Triangular (near, 10, 55, 100)
		Triangular (medium, 60, 100, 140)
		Triangular (far, 120, 150, 180)
		RShoulder (vfar, 160, 170)
	}

	InputVariable SENSORRIGHT [0, 2000]
	{
		LShoulder (vnear, 20, 40)
		Triangular (near, 10, 55, 100)
		Triangular (medium, 60, 100, 140)
		Triangular (far, 120, 150, 180)
		RShoulder (vfar, 160, 170)
	}

	OutputVariable VELOCITYANGULAR [-0.4, 0.4]
	{
		LShoulder ( Bignegative, -0.3, -0.2)
		Triangular ( negative, -0.3, -0.2, -0.1)
		Triangular ( Smallnegative, -0.2, -0.1, 0)
		Triangular ( NoChange, -0.1, 0, 0.1)
		Triangular ( Smallpositive, 0, 0.1, 0.2)
		Triangular ( positive, 0.1, 0.2, 0.3)
		RShoulder ( Bigpositive, 0.2, 0.3)
	}


	OutputVariable VELOCITYLINEAR [-0.1, 5]
	{
		LShoulder (Reverse, -1, 0)
		Triangular (Stop, -0.1, 0, 0.1)
		Triangular (Slow, 0, 0.3, 0.6)
		Triangular (Medium, 0.3, 0.6, 0.9)
		RShoulder (Fast, 0.6, 5)
	}
}

Predicates
{
	Predicate far
	{
		(SENSORLEFT is vfar  and SENSORRIGHT is vfar) or 
		(SENSORLEFT is vfar  and SENSORRIGHT is far) or
		(SENSORLEFT is vfar  and SENSORRIGHT is medium) or

		(SENSORLEFT is far  and SENSORRIGHT is vfar) or
		(SENSORLEFT is far  and SENSORRIGHT is far) or
		(SENSORLEFT is far  and sensorright is medium)or
		
		(SENSORLEFT is medium  and sensorright is vfar) or
		(SENSORLEFT is medium  and sensorright is far) or
		(SENSORLEFT is medium  and sensorright is medium)
	}
	
	Predicate rightnear
	{
		(SENSORLEFT is vfar  and SENSORRIGHT is near) or
		(SENSORLEFT is far  and sensorright is near) or
		(SENSORLEFT is medium  and sensorright is near)
	}

	Predicate leftnear
	{
		(SENSORLEFT is near  and sensorright is vfar) or
		(SENSORLEFT is near  and sensorright is far) or
		(SENSORLEFT is near  and sensorright is medium)
	}
	
	Predicate rightdanger
	{
		(SENSORLEFT is vfar  and SENSORRIGHT is vnear) or
		(SENSORLEFT is far  and sensorright is vnear) or
		(SENSORLEFT is medium  and sensorright is vnear) or
		(SENSORLEFT is near  and sensorright is vnear)
	}
	
	Predicate leftdanger
	{
		(SENSORLEFT is vnear  and sensorright is vfar) or
		(SENSORLEFT is vnear  and sensorright is far ) or
		(SENSORLEFT is vnear  and sensorright is medium ) or
		(SENSORLEFT is vnear  and sensorright is near )
	}
	
	Predicate danger
	{
		SENSORLEFT is vnear  or sensorright is vnear or
		SENSORMIDDLE is near or
		SENSORMIDDLE is vnear
	}
	
	Predicate caution
	{
		(SENSORLEFT is near  and sensorright is near) and
		(SENSORMIDDLE is vfar or
		SENSORMIDDLE is far or
		SENSORMIDDLE is medium) 
	}
}

RuleBase 
{
	If very <far> Then VELOCITYANGULAR = 0 and VELOCITYLINEAR = 4.9
	If <rightnear> Then VELOCITYANGULAR is smallnegative and VELOCITYLINEAR is medium
	If <leftnear> Then VELOCITYANGULAR is smallpositive and VELOCITYLINEAR is medium
	If <rightdanger> Then VELOCITYANGULAR is negative and VELOCITYLINEAR is stop 
	If <leftdanger> Then VELOCITYANGULAR is positive and VELOCITYLINEAR is stop 
	If <danger> Then VELOCITYANGULAR = 0 and VELOCITYLINEAR = 0 
	If <caution> Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is  medium
}