void NumberField::set_value(int32_t new_value) {
new_value = clip_value(new_value);
if( new_value != value() ) {
value_ = new_value;
if( on_change ) {
on_change(value_);
}
set_dirty();
}
}
double run_trial() {
int speed[2]={0,0};
//Maximum activation of all IR proximity sensors [0,1]
//double maxIRActivation = 0;
//get sensor data, i.e., NN inputs
int j;
for(j=0;j<NB_DIST_SENS;j++) {
//printf("sensor %d reads %g\n",j,wb_distance_sensor_get_value(ps[j]));
temp[j]=(((double)wb_distance_sensor_get_value(ps[j])-ps_offset[j])<0)?0:(((double)wb_distance_sensor_get_value(ps[j])-ps_offset[j])/((double)PS_RANGE));
}
for(j=0;j<NB_PS;j++) {
//printf("sensor %d reads %g\n",j,wb_distance_sensor_get_value(ps[j]));
inputs[j]=(temp[2*j]+temp[(2*j)+1])/2.0;
}
inputs[4]= wb_distance_sensor_get_value(fs[0])-fs_offset[0];
//printf("floor sensor:%g\n",inputs[4]);
// Run the neural network and computes the output speed of the robot
run_neural_network(inputs, outputs);
speed[LEFT] = clip_value(outputs[0],max_speed); //scale outputs between 0 and 1
speed[RIGHT] = clip_value(outputs[1],max_speed);
//printf("L: %d; R: %d\n",speed[LEFT],speed[RIGHT]);
// Set wheel speeds to output values
wb_differential_wheels_set_speed(speed[LEFT], speed[RIGHT]); //left, right
//printf("Set wheels to outputs.\n");
return compute_fitness(inputs[4]);
return compute_fitness(inputs[4]);
}
