gistfile1.txt

FUNCTION_BLOCK driver

VAR_INPUT
  x : REAL;
  y : REAL;
  angle : REAL;
END_VAR

VAR_OUTPUT
  volante : REAL;
END_VAR

FUZZIFY x
  TERM esquerda   := (0, 1) (0.35, 0.5) (0.5, 0);
  TERM centro := TRAPE 0.4 0.45 0.55 0.65;
  TERM direita  := (0.5, 0) (0.65, 0.5) (1, 1);
END_FUZZIFY


FUZZIFY y
  TERM longe    := TRAPE 0 0.3 0.6 0.8;
  TERM perto  := TRAPE 0.6 0.75 0.85 1;
END_FUZZIFY


FUZZIFY angle
  TERM leste    := (0, 1) (2.5, 1) (90, 0) (270, 0) (357.5, 1) (360, 1);
  TERM oeste    := TRIAN 90 177.5 270;
  TERM norte    := TRIAN 0 87.5 180;
  TERM sul      := TRIAN 180 267.5 360;
  TERM nordeste := TRIAN 0 30 90;
  TERM noroeste := TRIAN 90 120 180;
  TERM sudeste  := TRIAN 270 300 360;
  TERM sudoeste := TRIAN 180 210 270;
END_FUZZIFY

DEFUZZIFY volante
  TERM vira_para_direita := TRIAN -1 -0.8 0;
  TERM vira_nada     := TRIAN -0.5 -0.1 0.5;
  TERM vira_para_esquerda  := TRIAN 0 0.8 1;
  // In the list of fuzzy methods there is one called centro of area
  // https://en.wikipedia.org/wiki/Defuzzification
  METHOD             : COA;
  DEFAULT            := 0;
END_DEFUZZIFY

RULEBLOCK No1
  AND  : MIN;         // Use 'min' for 'and' (also implicit use 'max' for 'or' to fulfill DeMorgan's Law)
  ACT  : MIN;         // Use 'min' activation method
  ACCU : MAX;         // Use 'max' accumulation method

  RULE 1  : IF x IS esquerda AND y IS perto AND angle IS leste  THEN volante IS vira_para_direita;
  RULE 2  : IF x IS esquerda AND y IS perto  AND angle IS norte THEN volante IS vira_para_esquerda;
  RULE 3  : IF x IS esquerda AND y IS perto AND angle IS nordeste THEN volante IS vira_para_direita;
  RULE 4  : IF x IS esquerda AND angle IS noroeste THEN volante IS vira_nada;
  RULE 5  : IF x IS esquerda AND angle IS oeste  THEN volante IS vira_nada;
  RULE 6  : IF x IS esquerda AND angle IS sul THEN volante IS vira_para_direita;
  RULE 7  : IF x IS esquerda AND angle IS sudeste THEN volante IS vira_para_direita;
  RULE 8  : IF x IS esquerda AND angle IS sudoeste THEN volante IS vira_para_direita;

  RULE 9  : IF x IS esquerda AND y IS longe AND angle IS leste  THEN volante IS vira_para_esquerda;
  RULE 10  : IF x IS esquerda AND y IS longe AND angle IS norte THEN volante IS vira_para_esquerda;
  RULE 11  : IF x IS esquerda AND y IS longe AND angle IS nordeste THEN volante IS vira_para_esquerda;

  RULE 12  : IF x IS centro AND angle IS leste THEN volante IS vira_para_esquerda;
  
  RULE 13 : IF x IS centro AND angle IS oeste THEN volante IS vira_para_direita;
  RULE 14 : IF x IS centro AND angle IS nordeste THEN volante IS vira_para_esquerda;
  RULE 15 : IF x IS centro AND angle IS noroeste THEN volante IS vira_para_direita;

  RULE 16  : IF x IS direita AND y IS perto AND angle IS oeste  THEN volante IS vira_para_esquerda;
  RULE 17 : IF x IS direita AND y IS perto  AND angle IS norte THEN volante IS vira_para_direita;
  RULE 18  : IF x IS direita AND y IS perto AND angle IS noroeste THEN volante IS vira_para_esquerda;
  RULE 19  : IF x IS direita AND angle IS nordeste THEN volante IS vira_nada;
  RULE 20  : IF x IS direita AND angle IS leste THEN volante IS vira_nada;
  RULE 21  : IF x IS direita AND angle IS sul THEN volante IS vira_para_esquerda;
  RULE 22 : IF x IS direita AND angle IS sudeste THEN volante IS vira_para_esquerda;
  RULE 23  : IF x IS direita AND angle IS sudoeste THEN volante IS vira_para_esquerda;
  RULE 24  : IF x IS direita AND y IS longe AND angle IS oeste  THEN volante IS vira_para_direita;
  RULE 25  : IF x IS direita AND y IS longe AND angle IS norte THEN volante IS vira_para_direita;
  RULE 26  : IF x IS direita AND y IS longe AND angle IS noroeste THEN volante IS vira_para_direita;
  
  RULE 27 :	IF x IS centro OR x IS direita AND angle IS sudeste THEN volante IS vira_para_esquerda;
  RULE 28 :	IF x IS centro OR x IS direita AND angle IS sudoeste THEN volante IS vira_para_esquerda;
  RULE 29 :	IF x IS centro OR x IS esquerda AND angle IS sudoeste THEN volante IS vira_para_direita;
  RULE 30 :	IF x IS centro OR x IS esquerda AND angle IS sudeste THEN volante IS vira_para_direita;

END_RULEBLOCK

END_FUNCTION_BLOCK