APT.all-test.MOUTBot.execute-mission.sentry-watch.scan-for-contacts.determine-step-rate.soar Maven / Gradle / Ivy

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##################################### 
# file: determine-step-rate.soar 
# created: REW: 2001-08-23
## 
# Determine how far to turn and how fast
# Change history: 
# 
#  [1] REW: 

echo "\nLoading execute-mission/sentry-watch/scan-for-contacts/determine-step-rate.soar"
                
# Note: this could easily be pre-computed if the input params are
# really fixed, but this gives us the option for determining fast,slow
# scans, randomization, etc.

sp {scan-for-contacts*propose*determine-step-rate
   (state  ^name scan-for-contacts
             -^step-rate
              ^top-state.parameters )
   (
 ^scan-angle 
        ^scan-period 
        ^scan-step )
   -->
   ( ^operator  +, = 50)
   ( ^name determine-step-rate
        ^scan-angle 
        ^scan-period 
        ^scan-step )
}

# REW: 2002-10-10
# SoarAPI bots were crashing when this production fired.  Soar printed message about thin-justification.
# After much experiemnting, determined that separating result and local state elab resulted in no
# crash, so that's the workaround for now (ie, number of steps and step rate are computed in separate prods).

# REW: 
#  period = period of time for the scan (sec)
#  angle = angle to be covered during the scan
#  step = size (in degrees) of increments in the scan
#  step rate = period/total steps = period/(angle/step) = period * step/angle

# Assume sweep to right for now, needs to be negative for left sweep
sp {apply*determine-step-rate*right
   (state  ^operator 
              ^objective.sentry-watch.scan )
   ( ^scan-direction right )
   ( ^name determine-step-rate
         ^scan-period 

         ^scan-angle 
         ^scan-step )
   -->
   ( ^step-rate (/ (* 
 )  )  )
}

# Make scan-step negative for left scan
sp {apply*determine-step-rate*left
   (state  ^operator 
              ^objective.sentry-watch.scan )
   ( ^scan-direction left )
   ( ^name determine-step-rate
         ^scan-period 

         ^scan-angle 
         ^scan-step )
   -->
   ( ^step-rate (/ (*  (- 0 ))  )  )
}

sp {apply*determine-step-rate*number-of-steps
   (state  ^operator 
              ^objective.sentry-watch.scan )
   ( ^name determine-step-rate
         ^scan-angle 
         ^scan-step )
   -->
   (  ^number-of-steps (/  ) )
}