terms=[
fl.Triangle("LOW", 0.000, 0.250, 0.500),
fl.Triangle("MEDIUM", 0.250, 0.500, 0.750),
fl.Triangle("HIGH", 0.500, 0.750, 1.000)
]),
fl.OutputVariable(name="InversePower",
description="",
enabled=True,
minimum=0.000,
maximum=1.000,
lock_range=False,
aggregation=fl.Maximum(),
defuzzifier=fl.Centroid(500),
lock_previous=False,
terms=[
fl.Cosine("LOW", 0.200, 0.500),
fl.Cosine("MEDIUM", 0.500, 0.500),
fl.Cosine("HIGH", 0.800, 0.500)
])
]
engine.rule_blocks = [
fl.RuleBlock(
name="",
description="",
enabled=True,
conjunction=None,
disjunction=None,
implication=fl.Minimum(),
activation=fl.General(),
rules=[
fl.Rule.create("if Ambient is DARK then Power is HIGH", engine),
maximum=6.500,
lock_range=False,
terms=[
fl.Sigmoid("A", 0.500, -20.000),
fl.ZShape("B", 0.000, 1.000),
fl.Ramp("C", 1.000, 0.000),
fl.Triangle("D", 0.500, 1.000, 1.500),
fl.Trapezoid("E", 1.000, 1.250, 1.750, 2.000),
fl.Concave("F", 0.850, 0.250),
fl.Rectangle("G", 1.750, 2.250),
fl.Discrete("H", [
2.000, 0.000, 2.250, 1.000, 2.500, 0.500, 2.750,
1.000, 3.000, 0.000
]),
fl.Gaussian("I", 3.000, 0.200),
fl.Cosine("J", 3.250, 0.650),
fl.GaussianProduct("K", 3.500, 0.100, 3.300, 0.300),
fl.Spike("L", 3.640, 1.040),
fl.Bell("M", 4.000, 0.250, 3.000),
fl.PiShape("N", 4.000, 4.500, 4.500, 5.000),
fl.Concave("O", 5.650, 6.250),
fl.SigmoidDifference("P", 4.750, 10.000, 30.000,
5.250),
fl.SigmoidProduct("Q", 5.250, 20.000, -10.000, 5.750),
fl.Ramp("R", 5.500, 6.500),
fl.SShape("S", 5.500, 6.500),
fl.Sigmoid("T", 6.000, 20.000)
])
]
engine.output_variables = [
fl.OutputVariable(name="AllOutputTerms",
fl.Triangle("left", 0.000000000, 0.333000000, 0.666000000),
fl.Triangle("right", 0.333000000, 0.666000000, 1.000000000)
])
engine.input_variables = [obstacle]
steer = fl.OutputVariable(name="steer",
description="direction to steer the vehicle to",
enabled=True,
minimum=0.000000000,
maximum=1.000000000,
lock_range=False,
aggregation=fl.Maximum(),
defuzzifier=fl.Centroid(100),
lock_previous=False,
terms=[
fl.Cosine("left", 0.333000000, 0.666000000),
fl.Cosine("right", 0.666500000, 0.667000000)
])
engine.output_variables = [steer]
steer_away = fl.RuleBlock(
name="steer_away",
description="steer away from obstacles",
enabled=True,
conjunction=None,
disjunction=None,
implication=fl.Minimum(),
activation=fl.General(),
rules=[
fl.Rule.parse("if obstacle is left then steer is right"),
fl.Rule.parse("if obstacle is right then steer is left")