FUZZY LOGIC CODE

FUNCTION_BLOCK controladord

    VAR_INPUT

        distanciai : REAL;

        distanciad : REAL;

    END_VAR

    

    VAR_OUTPUT

        velocidad : REAL;

    END_VAR

    

    FUZZIFY distanciai

        TERM baja := trian 5 150 300;

        TERM media := trian 310 460 620;

        TERM alta := trian 610 800 1003;

    END_FUZZIFY

    FUZZIFY distanciad

        TERM baja := trian 5 150 300;

        TERM media := trian 310 460 620;

        TERM alta := trian 610 800 1003;

    END_FUZZIFY

    

    DEFUZZIFY velocidad

        TERM baja := trape 0 1 2 3;

        TERM media := trape 2 4  5 6;

        TERM alta := trape 5 7 8.5 10;

        

        METHOD : COG;

        DEFAULT:=0;

    END_DEFUZZIFY

    

    RULEBLOCK Reglas1

        ACT : MIN;

        AND : MIN;

        ACCU : MAX;

        

        RULE R1: IF distanciai IS baja AND distanciad IS baja THEN velocidad is baja;

        RULE R2: IF distanciai IS baja AND distanciad IS media THEN velocidad is media;

        RULE R3: IF distanciai IS baja AND distanciad IS alta THEN velocidad is media;

        

        RULE R4: IF distanciai IS media AND distanciad IS baja THEN velocidad is baja;

        RULE R5: IF distanciai IS media AND distanciad IS media THEN velocidad is media;

        RULE R6: IF distanciai IS media AND distanciad IS alta THEN velocidad is alta;

        

        RULE R7: IF distanciai IS alta AND distanciad IS baja THEN velocidad is media;

        RULE R8: IF distanciai IS alta AND distanciad IS media THEN velocidad is alta;

        RULE R9: IF distanciai IS alta AND distanciad IS alta THEN velocidad is alta;

    

    END_RULEBLOCK

    

END_FUNCTION_BLOCK