added thebariumoxide test with cleaned up Rules

Author: amogorkon

tests/thebariumoxide_test.py

@@ -0,0 +1,75 @@
+from matplotlib import pyplot as plt
+
+from fuzzylogic.classes import Domain, Rule
+from fuzzylogic.functions import R, S, trapezoid, triangular
+
+left = Domain("left_obstacle_sensor", 0, 100, res=0.1)
+right = Domain("right_obstacle_sensor", 0, 100, res=0.1)
+theta = Domain("θ", -50.5, 50.5, res=0.1)
+
+left.veryStrong = S(0, 25)
+left.strong = trapezoid(0, 25, 25, 50)
+left.medium = trapezoid(25, 50, 50, 75)
+left.weak = trapezoid(50, 75, 75, 100)
+left.veryWeak = R(75, 100)
+
+right.veryStrong = S(0, 25)
+right.strong = trapezoid(0, 25, 25, 50)
+right.medium = trapezoid(25, 50, 50, 75)
+right.weak = trapezoid(50, 75, 75, 100)
+right.veryWeak = R(75, 100)
+
+theta.mediumRight = triangular(-50.5, -49.5)
+theta.smallRight = triangular(-25.5, -24.5)
+theta.noTurn = triangular(-0.5, 0.5)
+theta.smallLeft = triangular(24.5, 25.5)
+theta.mediumLeft = triangular(49.5, 50.5)
+
+rules = Rule({
+    (left.veryStrong, right.veryStrong): theta.noTurn,
+    (left.veryStrong, right.strong): theta.smallRight,
+    (left.veryStrong, right.medium): theta.smallRight,
+    (left.veryStrong, right.weak): theta.mediumRight,
+    (left.veryStrong, right.veryWeak): theta.mediumRight,
+    (left.strong, right.veryStrong): theta.smallLeft,
+    (left.strong, right.strong): theta.noTurn,
+    (left.strong, right.veryWeak): theta.mediumRight,
+    (left.strong, right.weak): theta.mediumRight,
+    (left.strong, right.medium): theta.smallRight,
+    (left.medium, right.veryStrong): theta.smallLeft,
+    (left.medium, right.strong): theta.smallLeft,
+    (left.medium, right.medium): theta.noTurn,
+    (left.medium, right.weak): theta.smallRight,
+    (left.medium, right.veryWeak): theta.smallRight,
+    (left.weak, right.veryStrong): theta.mediumLeft,
+    (left.weak, right.strong): theta.mediumLeft,
+    (left.weak, right.medium): theta.smallLeft,
+    (left.weak, right.weak): theta.noTurn,
+    (left.weak, right.veryWeak): theta.smallRight,
+    (left.veryWeak, right.veryStrong): theta.mediumLeft,
+    (left.veryWeak, right.strong): theta.mediumLeft,
+    (left.veryWeak, right.medium): theta.smallLeft,
+    (left.veryWeak, right.weak): theta.smallLeft,
+    (left.veryWeak, right.veryWeak): theta.noTurn,
+})
+
+
+def fuzzyObjectAvoidance(leftDist, rightDist):
+    values = {left: leftDist, right: rightDist}
+    return rules(values)
+
+
+def main():
+    theta.mediumRight.plot()
+    theta.smallRight.plot()
+    theta.noTurn.plot()
+    theta.smallLeft.plot()
+    theta.mediumLeft.plot()
+
+    plt.show()
+
+    print(fuzzyObjectAvoidance(100, 100))
+
+
+if __name__ == "__main__":
+    main()