Extended breitenberg

Samples/Breitenberg/Breitenberg.unity

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Samples/Breitenberg/Prefabs/Vehicle.prefab

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+  gain: 90
-  crossWiring: 0
+  crossWiring: 1
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Samples/Breitenberg/Scripts/Vehicle.cs

@@ -11,6 +11,12 @@ namespace Breitenberg {
         public float baseSpeed = 0f;    // optional forward bias
         public float gain = 5f;         // motor response strength
         public bool crossWiring = false; // false = same-side wiring (excitatory); true = cross
+        public float leftSpeed;
+        public float rightSpeed;
+
+        [Header("Wheels")]
+        public Transform wheelLeft;
+        public Transform wheelRight;
 
         [Header("Physics")]
         public Rigidbody rb;
@@ -25,8 +31,10 @@ namespace Breitenberg {
             float leftInput = crossWiring ? sR : sL;
             float rightInput = crossWiring ? sL : sR;
 
-            float leftSpeed = baseSpeed + gain * leftInput;
+            leftSpeed = baseSpeed + gain * leftInput;
-            float rightSpeed = baseSpeed + gain * rightInput;
+            Debug.DrawRay(wheelLeft.position, wheelLeft.forward * leftSpeed, Color.magenta);
+            rightSpeed = baseSpeed + gain * rightInput;
+            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);
 
         }
     }