From b5a5c9b146d0da3b6da7bb925e4c9cec648165c0 Mon Sep 17 00:00:00 2001
From: Felix Pankratz <mail@felixpankratz.de>
Date: Tue, 10 Dec 2024 21:09:00 +0100
Subject: [PATCH] add random params

---
 organism/src/main.cpp | 32 +++++++++++++++++++++-----------
 1 file changed, 21 insertions(+), 11 deletions(-)

diff --git a/organism/src/main.cpp b/organism/src/main.cpp
index ee05d84..d3bcf81 100644
--- a/organism/src/main.cpp
+++ b/organism/src/main.cpp
@@ -35,9 +35,10 @@
 MatrixPanel_I2S_DMA *matrix = nullptr;
 
 #define NUM_AGENTS 128
-#define AGENT_MOVE_DISTANCE 1
+
+//#define AGENT_MOVE_DISTANCE 1
 #define AGENT_DROP_AMOUNT 1
-#define AGENT_ANGLE 0.175
+//#define AGENT_ANGLE 0.175
 #define NUM_ITERATIONS 1000
 typedef struct {
   int x_position;
@@ -45,6 +46,11 @@ typedef struct {
   float heading;
 } SlimeAgent;
 
+int AGENT_MOVE_DISTANCE;
+float AGENT_SENSOR_DISTANCE;
+float AGENT_MOVE_ANGLE;
+float AGENT_SENSOR_ANGLE;
+
 float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
 int iterations = 0;
 SlimeAgent agents[NUM_AGENTS];
@@ -71,6 +77,10 @@ void init_attractant() {
 }
 
 void init_agents() {
+  AGENT_MOVE_DISTANCE = 1; //random(1, 3);
+  AGENT_MOVE_ANGLE = random(0, 334) / 1000.0;
+  AGENT_SENSOR_ANGLE = random(0, 334) / 1000.0;
+  AGENT_SENSOR_DISTANCE = random(100, 400) / 1000.0;
   for(int a = 0; a < NUM_AGENTS; a++) {
     float angle = ((PI * 2) / NUM_AGENTS) * a;
     //agents[a].x_position = 31 + round(10*sin(angle));
@@ -281,23 +291,23 @@ void loop() {
       agents[a].heading += (random(-1,2) *2 - 1 ) * 30 / 100.0 * PI*2;
     }
     // sample step
-    int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE);
-    int front_y = round(agents[a].y_position + sin(agents[a].heading) * AGENT_MOVE_DISTANCE);
-    int left_x = round(agents[a].x_position + cos(agents[a].heading - (AGENT_ANGLE * (PI * 2))));
-    int left_y = round(agents[a].y_position + sin(agents[a].heading - (AGENT_ANGLE * (PI * 2))));
-    int right_x = round(agents[a].x_position + cos(agents[a].heading + (AGENT_ANGLE * (PI * 2))));
-    int right_y = round(agents[a].y_position + sin(agents[a].heading + (AGENT_ANGLE * (PI * 2))));
+    int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_SENSOR_DISTANCE);
+    int front_y = round(agents[a].y_position + sin(agents[a].heading) * AGENT_SENSOR_DISTANCE);
+    int left_x = round(agents[a].x_position + cos(agents[a].heading - (AGENT_SENSOR_ANGLE * (PI * 2))) * AGENT_SENSOR_DISTANCE);
+    int left_y = round(agents[a].y_position + sin(agents[a].heading - (AGENT_SENSOR_ANGLE * (PI * 2))) * AGENT_SENSOR_DISTANCE);
+    int right_x = round(agents[a].x_position + cos(agents[a].heading + (AGENT_SENSOR_ANGLE * (PI * 2))) * AGENT_SENSOR_DISTANCE);
+    int right_y = round(agents[a].y_position + sin(agents[a].heading + (AGENT_SENSOR_ANGLE * (PI * 2))) * AGENT_SENSOR_DISTANCE);
     float front_value = attractant[front_x][front_y];
     float left_value = attractant[left_x][left_y];
     float right_value = attractant[right_x][right_y];
     if (front_value > right_value and front_value > left_value) {
       ;
     } else if (front_value < right_value and front_value < left_value) {
-      agents[a].heading += (random(0, 2) * 2 - 1) * (AGENT_ANGLE / 100.0) * (PI*2) ;
+      agents[a].heading += (random(0, 2) * 2 - 1) * (AGENT_MOVE_ANGLE / 100.0) * (PI*2) ;
     } else if (left_value > right_value) {
-      agents[a].heading -= AGENT_ANGLE * (PI * 2);
+      agents[a].heading -= AGENT_MOVE_ANGLE * (PI * 2);
     } else {
-      agents[a].heading += AGENT_ANGLE * (PI * 2);
+      agents[a].heading += AGENT_MOVE_ANGLE * (PI * 2);
     }
   }
   iterations++;