FuzzScript - A Fuzzy Logic Control Language

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
{
}


RuleBase 
{
	If SENSORLEFT is vfar  and SENSORRIGHT is vfar Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is fast
	If SENSORLEFT is vfar  and SENSORRIGHT is far Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is fast
	If SENSORLEFT is vfar  and SENSORRIGHT is medium Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is fast
	If SENSORLEFT is vfar  and SENSORRIGHT is near Then VELOCITYANGULAR is smallnegative and VELOCITYLINEAR is medium
	If SENSORLEFT is vfar  and SENSORRIGHT is vnear Then VELOCITYANGULAR is bignegative and VELOCITYLINEAR is stop 

	If SENSORLEFT is far  and SENSORRIGHT is vfar Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is fast
	If SENSORLEFT is far  and SENSORRIGHT is far Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is fast
	If SENSORLEFT is far  and sensorright is medium Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is fast
	If SENSORLEFT is far  and sensorright is near Then VELOCITYANGULAR is smallnegative and VELOCITYLINEAR is medium
	If SENSORLEFT is far  and sensorright is vnear Then VELOCITYANGULAR is negative and VELOCITYLINEAR is stop 

	If SENSORLEFT is medium  and sensorright is vfar Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is  fast
	If SENSORLEFT is medium  and sensorright is far Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is  fast
	If SENSORLEFT is medium  and sensorright is medium Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is fast
	If SENSORLEFT is medium  and sensorright is near Then VELOCITYANGULAR is smallnegative and VELOCITYLINEAR is medium
	If SENSORLEFT is medium  and sensorright is vnear Then VELOCITYANGULAR is smallnegative and VELOCITYLINEAR is stop 
	
	If SENSORLEFT is near  and sensorright is vfar Then VELOCITYANGULAR is smallpositive and VELOCITYLINEAR is medium
	If SENSORLEFT is near  and sensorright is far Then VELOCITYANGULAR is smallpositive and VELOCITYLINEAR is medium
	If SENSORLEFT is near  and sensorright is medium Then VELOCITYANGULAR is smallpositive and VELOCITYLINEAR is medium
	If SENSORLEFT is near  and sensorright is near Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is  medium
	If SENSORLEFT is near  and sensorright is vnear Then VELOCITYANGULAR is smallnegative	and VELOCITYLINEAR is stop

	If SENSORLEFT is vnear  and sensorright is vfar Then VELOCITYANGULAR is bigpositive and VELOCITYLINEAR is stop
	If SENSORLEFT is vnear  and sensorright is far Then VELOCITYANGULAR is positive and VELOCITYLINEAR is stop
	If SENSORLEFT is vnear  and sensorright is medium Then VELOCITYANGULAR is positive and VELOCITYLINEAR is stop
	If SENSORLEFT is vnear  and sensorright is near Then VELOCITYANGULAR is smallpositive and VELOCITYLINEAR is stop
	If SENSORLEFT is vnear  and sensorright is vnear Then VELOCITYANGULAR is nochange and VELOCITYLINEAR is reverse


	If  SENSORMIDDLE is near Then VELOCITYLINEAR is stop
	If  SENSORMIDDLE is vnear Then VELOCITYLINEAR is stop
}