pioneer 1 codefreeze (#175)

SwarmUS · Nov 24, 2021 · f98f375 · f98f375
1 parent 978d29f
commit f98f375
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Showing 2 changed files with 34 additions and 30 deletions.
diff --git a/src/bittybuzz/buzz_scripts/behaviors/follow_leader.bzz b/src/bittybuzz/buzz_scripts/behaviors/follow_leader.bzz
@@ -11,37 +11,41 @@ function tick_follow_leader(stig){
         log("Trying to get leader: ", leader)
         leader_obj = neighbors.get(leader) # Global to be accessible in filter
         if (istable(leader_obj)){
-
-            # Getting neighbors in LOS
-            var obstructing_neighbors = neighbors.filter(function(rid, data){
-                    if(rid != leader and math.abs(data.azimuth) < MAX_LOS_ANGLE){
-                        return true
-                    }
-                    return false
-
-                })
-
-            # Cummulating the avoidance vector
-            var avoidance_vec = obstructing_neighbors.reduce(function(rid, data, accum){
-                    var vec_length = -1/math.pow(data.distance, 2)
-                    var vec = math.vec2.newp(vec_length, data.azimuth)
-                    return math.vec2.add(vec, accum);
-                },
-                math.vec2.new(0.0, 0.0))
-
-            # Goal to the leader and add the avoidance vector
-            var goal = math.vec2.newp(leader_obj.distance - 0.5, leader_obj.azimuth)
-
-            if(math.vec2.length(goal) > 1){
+            if(leader_obj.distance > 1.25){
+                # Getting neighbors in LOS
+                var obstructing_neighbors = neighbors.filter(function(rid, data){
+                        if(rid != leader and data.distance < 1){
+                            return true
+                        }
+                        return false
+
+                    })
+
+                # Cummulating the avoidance vector
+                var avoidance_vec = obstructing_neighbors.reduce(function(rid, data, accum){
+                        var vec_length = -1/math.pow(data.distance, 1.5)
+                        var vec = math.vec2.newp(vec_length, data.azimuth)
+                        return math.vec2.add(vec, accum);
+                    },
+                    math.vec2.new(0.0, 0.0))
+
+                # Goal to the leader and add the avoidance vector
+                var goal = math.vec2.newp(leader_obj.distance, leader_obj.azimuth)
+
+                if(math.vec2.length(goal) > 1){
+                    goal = math.vec2.norm(goal)
+                }
+
+                goal = math.vec2.add(goal, avoidance_vec)
                 goal = math.vec2.norm(goal)
-            }
-
-            goal = math.vec2.add(goal, avoidance_vec)
-
-            log("Avoidance vector: X ", avoidance_vec.x, " Y: ", avoidance_vec.y)
-            log("Moving towards leader via: ", leader, " at x:", goal.x, " y:", goal.y)
-            call_host_function(id, "moveBy", {.0 = goal.x, .1 = goal.y})
 
+                log("Avoidance vector: X ", avoidance_vec.x, " Y: ", avoidance_vec.y)
+                log("Moving towards leader via: ", leader, " at x:", goal.x, " y:", goal.y)
+                call_host_function(id, "moveBy", {.0 = goal.x, .1 = goal.y})
+            }
+            else {
+                call_host_function(id, "moveBy", {.0 = 0.0, .1 = 0.0})
+            }
         }
         else{
             log("Neighbor not found!")

diff --git a/src/bittybuzz/buzz_scripts/main.bzz b/src/bittybuzz/buzz_scripts/main.bzz
@@ -1,7 +1,7 @@
 include "behaviors/follow_leader.bzz"
 
 function init() {
-  exec = create_exec(500);
+  exec = create_exec(100);
 }
 
 function step() {