Extended breitenberg
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@ -11,6 +11,12 @@ namespace Breitenberg {
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public float baseSpeed = 0f; // optional forward bias
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public float gain = 5f; // motor response strength
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public bool crossWiring = false; // false = same-side wiring (excitatory); true = cross
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public float leftSpeed;
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public float rightSpeed;
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[Header("Wheels")]
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public Transform wheelLeft;
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public Transform wheelRight;
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[Header("Physics")]
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@ -25,8 +31,10 @@ namespace Breitenberg {
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float leftInput = crossWiring ? sR : sL;
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float rightInput = crossWiring ? sL : sR;
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float leftSpeed = baseSpeed + gain * leftInput;
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float rightSpeed = baseSpeed + gain * rightInput;
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leftSpeed = baseSpeed + gain * leftInput;
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Debug.DrawRay(wheelLeft.position, wheelLeft.forward * leftSpeed, Color.magenta);
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rightSpeed = baseSpeed + gain * rightInput;
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||||
Debug.DrawRay(wheelRight.position, wheelRight.forward * rightSpeed, Color.magenta);
|
||||
|
||||
// Convert differential wheel speeds into forward force and torque.
|
||||
float forward = (leftSpeed + rightSpeed) * 0.5f;
|
||||
@ -37,7 +45,7 @@ namespace Breitenberg {
|
||||
rb.AddForce(force, ForceMode.Acceleration);
|
||||
|
||||
// Apply torque around Y axis
|
||||
rb.AddTorque(Vector3.up * rotation * turnTorque, ForceMode.Acceleration);
|
||||
rb.AddTorque(Vector3.down * rotation * turnTorque, ForceMode.Acceleration);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user