Bebida* getDrink(Bebida *cubaLivre, char tipoRefri, float refri, float run, float gelo){
free(cubaLivre);
cubaLivre = (Bebida*)malloc(sizeof(Bebida));
cubaLivre->refri = tipoRefri;
cubaLivre->qtdeRefri = refri;
cubaLivre->qtdeRun = run;
cubaLivre->qtdeGelo = gelo;
fuzzification(cubaLivre);
processaPaladar(cubaLivre);
return cubaLivre;
}
void fuzzyControl ( vControl *altitud, vControl *X, vControl *Y, vControl *Yaw ){
if(altitud==NULL){ printf("\nfuzzyControl h null pointer\n\n"); exit(-1); }
if(X==NULL){ printf("\nfuzzyControl x null pointer\n\n"); exit(-1); }
if(Y==NULL){ printf("\nfuzzyControl y null pointer\n\n"); exit(-1); }
if(Yaw==NULL){ printf("\nfuzzyControl yaw null pointer\n\n"); exit(-1); }
// Variables auxiliares
double fuzzyMem1[5]; // Auxiliar para la fuzzyficación
double fuzzyMem2[5]; // Auxiliar para la fuzzyficación
double vInference[7]; // Auxiliar para la inferencia difusa
double h[] = {-1,-0.8,-0.5,0,0.5,0.8,1}; // Conjuntos Singletons de salida
//double prevError;
double Error;
double Rate;
//:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
// Altitud
char name[] = "altitud";
altitud->name = name;
altitud->error = altitud->ref - altitud->vin;
//setSkale( altitud, 0.08, 0.9, 1.0 );
setSkale( altitud, ZGAIN1, ZGAIN2, ZGAIN3 );
Error = altitud->ke * altitud->error;
Rate = altitud->kr * ( altitud->error - altitud->error0 );
altitud->error0 = altitud->error;
fuzzification ( &Error , fuzzyMem1 );
fuzzification ( &Rate , fuzzyMem2 );
fuzzyInferenceAlt( fuzzyMem1, fuzzyMem2, vInference );
Defuzz( vInference , h , &altitud->ku , &altitud->vout );
//:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
// X
char nameX[] = "Posicion X";
X->name = nameX;
X->error = X->ref - X->vin;
setSkale( X, 2.0, 3.5, 1.0 );
setSkale( X, XGAIN1, XGAIN2, XGAIN3 );
Error = X->ke * X->error;
Rate = X->kr * ( X->error - X->error0 );
X->error0 = X->error;
fuzzification ( &Error , fuzzyMem1 );
fuzzification ( &Rate , fuzzyMem2 );
fuzzyInferenceAlt( fuzzyMem1, fuzzyMem2, vInference );
Defuzz( vInference , h , &X->ku , &X->vout );
//:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
// Y
char nameY[] = "Posicion Y";
Y->name = nameY;
Y->error = Y->ref - Y->vin;
//setSkale( Y, 2.0, 3.5, 1.0 );
setSkale(Y , YGAIN1, YGAIN2, YGAIN3 );
Error = Y->ke * Y->error;
Rate = Y->kr * ( Y->error - Y->error0 );
Y->error0 = Y->error;
fuzzification ( &Error , fuzzyMem1 );
fuzzification ( &Rate , fuzzyMem2 );
fuzzyInferenceAlt( fuzzyMem1, fuzzyMem2, vInference );
Defuzz( vInference , h , &Y->ku , &Y->vout );
//:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
// Yaw
char nameYaw[] = "Posicion Yaw";
Yaw->name = nameYaw;
Yaw->error = Yaw->ref - Yaw->vin;
//setSkale( Yaw, 1.5, 3.0, 1.0 );
setSkale( Yaw, WGAIN1, WGAIN2, WGAIN3 );
Error = Yaw->ke * Yaw->error;
Rate = Yaw->kr * ( Yaw->error - Yaw->error0 );
Yaw->error0 = Yaw->error;
fuzzification ( &Error , fuzzyMem1 );
fuzzification ( &Rate , fuzzyMem2 );
fuzzyInferenceAlt( fuzzyMem1, fuzzyMem2, vInference );
Defuzz( vInference , h , &Yaw->ku , &Yaw->vout );
//:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
}
