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[on:]

hi,
i have problem with the following code, a sensor measure a distance, if the distance between 0 and 30 rule 1 should be executed, if distance is between 31 and 60 rule 2 should be executed, but here when the arduino mega enter a rule, he don't go out from it even when distance is changed.
this is the code:

Code:

#include <Fuzzy.h>
#include <FuzzyComposition.h>
#include <FuzzyInput.h>
#include <FuzzyIO.h>
#include <FuzzyOutput.h>
#include <FuzzyRule.h>
#include <FuzzyRuleAntecedent.h>
#include <FuzzyRuleConsequent.h>
#include <FuzzySet.h>

//fwd, bwd, left, right
int pin1 = 53;
int pin2 = 52;
int pin3 = 51;
int pin4 = 50;
//S1
int trig = 46;
int echo = 22;
float pertinence;
int distance;
Fuzzy* fuzzy = new Fuzzy();

//Creating fuzzy sets-input
FuzzySet* near = new FuzzySet(0, 10, 20, 30);
FuzzySet* far = new FuzzySet(31, 40, 50, 60);

//Creating fuzzy sets-output
FuzzySet* slow = new FuzzySet(0, 1, 2, 4);
FuzzySet* fast = new FuzzySet(5, 6, 7, 8);

void setup()
{
  Serial.begin(9600);
  pinMode(pin1, OUTPUT);
  pinMode(pin2, OUTPUT);
  pinMode(pin3, OUTPUT);
  pinMode(pin4, OUTPUT);
  
  
  FuzzyInput* distance = new FuzzyInput(1);
  distance->addFuzzySet(near);
  distance->addFuzzySet(far);
  fuzzy->addFuzzyInput(distance);
  
  FuzzyOutput* speedSS = new FuzzyOutput(1);
  speedSS->addFuzzySet(slow);
  speedSS->addFuzzySet(fast);
  fuzzy->addFuzzyOutput(speedSS);
  
  //Fuzzy rules
  //if distance = near then speedSS = slow
  FuzzyRuleAntecedent* ifDistanceNear = new FuzzyRuleAntecedent();
  ifDistanceNear->joinSingle(near);
  FuzzyRuleConsequent* thenspeedSSslow = new FuzzyRuleConsequent();
  thenspeedSSslow->addOutput(slow);
  
  FuzzyRule* fuzzyRule01 = new FuzzyRule(1, ifDistanceNear, thenspeedSSslow);
  
  fuzzy->addFuzzyRule(fuzzyRule01);
  
  //if distance = far then speedSS = fast
  FuzzyRuleAntecedent* ifDistanceFar = new FuzzyRuleAntecedent();
  ifDistanceFar->joinSingle(far);
  FuzzyRuleConsequent* thenspeedSSfast= new FuzzyRuleConsequent();
  thenspeedSSfast->addOutput(fast);
  
  FuzzyRule* fuzzyRule02 = new FuzzyRule(2, ifDistanceFar, thenspeedSSfast);
  
  fuzzy->addFuzzyRule(fuzzyRule02);
  
}

void loop()
{
  distance = getDistance(trig, echo);
  Serial.print(distance);
  Serial.print("\n");
  fuzzy->setInput(1, distance);
  fuzzy->fuzzify();
  float output = fuzzy->defuzzify(1);
  //Serial.print(output);
  Serial.print("\n");
  if(fuzzy->isFiredRule(1) == true){
    Serial.print("Rule 1, turn left!");
    turnLeft();
    
  }  else if(fuzzy->isFiredRule(2) == true){
    Serial.print("Rule 2, turn right!");
    turnRight();
    
  }
  //float output = fuzzy->defuzzify(1);
  //Serial.print(output);
  //delay(1000);
  

}
int turnRight()
{
  Serial.print("turning right!");
  digitalWrite(pin1, HIGH);
  digitalWrite(pin2, LOW);
  digitalWrite(pin3, LOW);
  digitalWrite(pin4, HIGH);
  delay(2000);
}
int turnLeft()
{
  Serial.print("turning left!");
  digitalWrite(pin1, HIGH);
  digitalWrite(pin2, LOW);
  digitalWrite(pin3, HIGH);
  digitalWrite(pin4, LOW);
  delay(2000);
}

int getDistance(int pin1, int pin2)
{
  long duration, cm;
  
  pinMode(pin1, OUTPUT);
  digitalWrite(pin1, LOW);
  delayMicroseconds(2);
  digitalWrite(pin1, HIGH);
  delayMicroseconds(5);
  digitalWrite(pin1, LOW);
  
  pinMode(pin2, INPUT);
  duration = pulseIn(pin2, HIGH);
  
  return duration / 29 / 2;
  
  delay(100);
//  Serial.print(" cm");
//  Serial.println();
//  delay(1000);
}

[Reply #1 on:]

What do you get when you remove comment for the line:

Code:

Serial.print(output);

What do you get if you remove the else, i.e.

Code:

if(rule1){

}
if(rule2){

}

As I believe in fuzzy logic you can have both states being triggered to different degrees at the same time.

(Also if you want to print something on a line on its own use println rather than adding a print('\n'))

[Reply #2 on:]

ok i will make the test and reply to you
thanks for the advice

[Reply #3 on:]

if we remove else and replace it with

Code:

if(rule1)
{
{
if(rule2)
{
}

i have the same problem

[Reply #4 on:]

It would help if you identified stuff sent to the Serial Monitor.

Code:

Serial.print("distance: ");
Serial.println(distance);

is much better than:

Code:

  Serial.print(distance);
  Serial.print("\n");

Do this for everything you print to the Serial Monitor, and perhaps the problem will become more obvious.

[Reply #5 on:]

ok i will and i will put the output in here
thank you

[Reply #6 on:]

ok thats what happened, sensor give the distance and we go directly to the specific rule, but when the distance change, 2 rules are executed, and it loops in those 2 conditions only (see attachment)

[Reply #7 on:]

any help

[Reply #8 on:]

That's the problem I had alluded to above, fuzzy logic does not give you A or B, far or close, it gives you: it's a bit of A and a bit of B. If you are just using fuzzy logic as a method of smoothing out the movement then use a proper filter method, either a LP filter or a moving average.

I suggest you have a read of http://www.zerokol.com/2012/09/arduinofuzzy-fuzzy-library-for-arduino.html it's the documentation for the fuzzy logic library you are using.

[Reply #9 on:]

that's mean their is no error in the code ?
thank you anyway for your help.
i am obliged to use fuzzy logic in this project i can't implement LP filter.