Richard Harrington
85ccf2d04c
fixed int/floating point error in robot-test
2013-08-12 09:42:24 -04:00
Richard Harrington
9cf4063603
fixed bug causing robot-step to add old pos and veloc instead of new
2013-08-12 09:42:11 -04:00
Richard Harrington
e1b69e765c
wrote positive acceleration test in robot. but kinematics now broken.
2013-08-12 00:14:44 -04:00
Richard Harrington
5a24642f3f
removed cut and pasted example text from robot-test
2013-08-12 00:14:08 -04:00
Richard Harrington
a56d210fe4
changed tick-duration so it's a parameter passed into tick-world
2013-08-12 00:13:13 -04:00
Richard Harrington
9fc3a06e7e
added 'multiplier' field to all records in register
...
multiplier is a factor by which to multiply values
being pushed from the robot brain through
a register interface to a robot field, and
likewise by which to divide values being pulled from
a robot field to the robot brain
2013-08-11 23:33:31 -04:00
Richard Harrington
50ddd8d2b7
changed all values & calculations outside the brain to floating point
...
(also added stuff to the register functions that pull and push
from the brain to the robot fields, casting to integer when
pulling, and float when pushing)
2013-08-11 23:32:58 -04:00
Richard Harrington
32eac97e0c
changed TICK_DURATION from a constant to a parameter that we pass into robot
2013-08-11 22:37:20 -04:00
Richard Harrington
af7618c7f9
added support for negative acceleration and fixed bug in robot
...
bug in robot was that we were doing the kinematic calculations
on the original robot, not the stepped one. It wasn't
causing a problem with any of the tests (even the so far
informal ones) because we weren't checking any changes
except to the kinematic info
2013-08-11 22:35:19 -04:00
Richard Harrington
317cfdc05e
added comment to informal robot test file
2013-08-11 12:15:50 -04:00
Richard Harrington
f114dc57ac
added repl results for kinematics tests in new robot-test file, will fix later
2013-08-10 17:09:43 -04:00
Richard Harrington
64ac3c743b
fixed various bugs in kinematics calculations in robot
2013-08-10 17:04:44 -04:00
Richard Harrington
2846ed4151
added iterate-worlds convenience function to world
2013-08-10 17:03:58 -04:00
Richard Harrington
7e040dfcf5
expanded core.clj inspection functions to cover robot, world and worlds
2013-08-10 15:55:26 -04:00
Richard Harrington
2d7388f00f
Merge branch 'assembler' -- this is a bad commit; should have merged this branch years ago
2013-08-10 14:42:34 -04:00
Richard Harrington
cbcf620a00
added read-write test to register-test
2013-08-10 14:41:05 -04:00
Richard Harrington
43125f0e26
added test to read-only test section of register-test
...
new test checks to make sure the appropriate robot field
got written to.
2013-08-10 14:40:10 -04:00
Richard Harrington
99528fe9ba
added read-only-test to register-test
2013-08-10 14:29:52 -04:00
Richard Harrington
d07ab0607c
added get-registers helper function to registers-test
2013-08-10 14:29:17 -04:00
Richard Harrington
d0a1933b7d
set up midje (mainly for auto-testing, for the time being)
2013-08-10 14:28:17 -04:00
Richard Harrington
0b007c9b53
added random-test to register-test
2013-08-10 13:41:42 -04:00
Richard Harrington
9e61c987c3
added index/data test to register-test
2013-08-10 13:28:28 -04:00
Richard Harrington
2f85cef477
removed random and index/data tests from brain-test
2013-08-10 13:27:48 -04:00
Richard Harrington
1424d47a4c
started register-test namespace, with storage-register-test
2013-08-10 13:13:40 -04:00
Richard Harrington
94cf5b3f47
added logic in assembler to distinguish between registers and labels
...
and thus succeeded in getting rid of the register dependency
in the assembler namespace.
2013-08-10 01:34:03 -04:00
Richard Harrington
528b18a45d
fixed bugs in core.clj ppt inspection function, also made it more pretty
2013-08-10 00:55:17 -04:00
Richard Harrington
1cf9f7e42e
put test programs into their own file; altered brain-test and core.clj accordingly
2013-08-09 22:01:56 -04:00
Richard Harrington
7618378083
removed unnecessary dependency on register in brain
2013-08-09 16:27:10 -04:00
Richard Harrington
2d7754c7f3
fixed merge conflict
2013-08-09 16:11:16 -04:00
Richard Harrington
c802fc811e
fixed desired-v-x and desired-v-y situation
...
before, pushes to SPEEDX and SPEEDY were overwriting
the actual :v-x and :v-y fields on the robot,
so I made new :desired-v-x and :desired-v-y fields
to hold the aspiration for what we want the speed to be
(which might not be accomplished for several ticks)
2013-08-09 16:07:18 -04:00
Richard Harrington
6e6fd957f9
removed unnecessary assoc path functions in register
2013-08-09 16:02:40 -04:00
Richard Harrington
30a1ed781b
switched to system where registers are part of the brain, not the robot
2013-08-09 15:58:14 -04:00
Richard Harrington
171fe5d5b2
fixed RANDOM register, was writing to robot-field still; now writes to register itself
2013-08-09 15:57:16 -04:00
Richard Harrington
11a96e1c52
minor whitespace issue
2013-08-09 15:27:05 -04:00
Richard Harrington
167c8e73ee
changed name of 'reg-names-by-idx' back to 'reg-names'
2013-08-09 15:26:02 -04:00
Richard Harrington
ac2c87325a
changed name of reg-names to reg-names-by-index
...
to reflect its sole role: to be a lookup for the
DATA/INDEX pair system
2013-08-09 14:58:24 -04:00
Richard Harrington
98f7958e6a
minor whitespace change
2013-08-09 14:55:47 -04:00
Richard Harrington
ea5ca28e45
put storage-reg-names inline in init-register, instead of at beginning of file
2013-08-09 14:55:30 -04:00
Richard Harrington
135aeb54a4
fixed bugs causing test of RANDOM register to fail
2013-08-09 14:43:33 -04:00
Richard Harrington
ccf23449fe
restored loading of register namespace into brain
2013-08-09 14:35:53 -04:00
Richard Harrington
b9bfca221d
started reworking brain
2013-08-09 14:34:00 -04:00
Richard Harrington
e6f1205164
finished reworking the RANDOM register to store max-value in the
...
register, not the robot
2013-08-09 14:32:17 -04:00
Richard Harrington
8620ea8bac
renamed records in register namespace, to reflect where data is being
...
stored
2013-08-09 14:30:14 -04:00
Richard Harrington
d3ead6f74c
cleaned up namespace declarations in assembler and brain
2013-08-09 13:58:56 -04:00
Richard Harrington
3fe4444f7a
ATTN: commits now contain internal info. Changed register system to
...
mostly an interface.
Removed :val field from all registers except storage registers & INDEX.
Some of the other registers were already quite specialized, but
the ones that weren't -- the ones that relied on :val fields in the
register -- are now just interfaces to attributes stored on the top
level of the robot.
2013-08-09 00:51:42 -04:00
Richard Harrington
db63955567
removed passing of attributes from robot to init-register function. don't need them now.
2013-08-09 00:38:21 -04:00
Richard Harrington
cd2fc415ea
fixed slight bug in robot-field-read-register, in register namespace
2013-08-08 23:53:07 -04:00
Richard Harrington
8e2b0bcb78
fixed merge conflict
2013-08-08 23:40:03 -04:00
Richard Harrington
abbc60d81c
added 'random' record to register, switched to mixin system for most records, got all existing tests working
2013-08-08 23:38:05 -04:00
Richard Harrington
77f52915d2
added 'random' record to register, switched to mixin system for most records, got all existing tests working
2013-08-08 23:24:59 -04:00
