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organism #3

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panki merged 17 commits from organism into master 2024-12-15 15:00:50 +01:00
Conversation 0 Commits 17 Files Changed 13 +21 -11
1 changed files with 21 additions and 11 deletions
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organism/src/main.cpp
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@ -35,9 +35,10 @@
MatrixPanel_I2S_DMA *matrix = nullptr; MatrixPanel_I2S_DMA *matrix = nullptr;
#define NUM_AGENTS 128 #define NUM_AGENTS 128
#define AGENT_MOVE_DISTANCE 1
//#define AGENT_MOVE_DISTANCE 1
#define AGENT_DROP_AMOUNT 1 #define AGENT_DROP_AMOUNT 1
#define AGENT_ANGLE 0.175 //#define AGENT_ANGLE 0.175
#define NUM_ITERATIONS 1000 #define NUM_ITERATIONS 1000
typedef struct { typedef struct {
int x_position; int x_position;
@ -45,6 +46,11 @@ typedef struct {
float heading; float heading;
} SlimeAgent; } SlimeAgent;
int AGENT_MOVE_DISTANCE;
float AGENT_SENSOR_DISTANCE;
float AGENT_MOVE_ANGLE;
float AGENT_SENSOR_ANGLE;
float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {}; float attractant[PANEL_WIDTH][PANEL_HEIGHT] = {};
int iterations = 0; int iterations = 0;
SlimeAgent agents[NUM_AGENTS]; SlimeAgent agents[NUM_AGENTS];
@ -71,6 +77,10 @@ void init_attractant() {
} }
void init_agents() { 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++) { for(int a = 0; a < NUM_AGENTS; a++) {
float angle = ((PI * 2) / NUM_AGENTS) * a; float angle = ((PI * 2) / NUM_AGENTS) * a;
//agents[a].x_position = 31 + round(10*sin(angle)); //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; agents[a].heading += (random(-1,2) *2 - 1 ) * 30 / 100.0 * PI*2;
} }
// sample step // sample step
int front_x = round(agents[a].x_position + cos(agents[a].heading) * AGENT_MOVE_DISTANCE); 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_MOVE_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_ANGLE * (PI * 2)))); 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_ANGLE * (PI * 2)))); 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_ANGLE * (PI * 2)))); 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_ANGLE * (PI * 2)))); 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 front_value = attractant[front_x][front_y];
float left_value = attractant[left_x][left_y]; float left_value = attractant[left_x][left_y];
float right_value = attractant[right_x][right_y]; float right_value = attractant[right_x][right_y];
if (front_value > right_value and front_value > left_value) { if (front_value > right_value and front_value > left_value) {
; ;
} else 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) { } else if (left_value > right_value) {
agents[a].heading -= AGENT_ANGLE * (PI * 2); agents[a].heading -= AGENT_MOVE_ANGLE * (PI * 2);
} else { } else {
agents[a].heading += AGENT_ANGLE * (PI * 2); agents[a].heading += AGENT_MOVE_ANGLE * (PI * 2);
} }
} }
iterations++; iterations++;