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//Code automatically generated with fuzzylite 6.0.
FUNCTION_BLOCK ObstacleAvoidance
VAR_INPUT
obstacle: REAL;
END_VAR
VAR_OUTPUT
mSteer: REAL;
END_VAR
FUZZIFY obstacle
RANGE := (0.000 .. 1.000);
TERM left := Ramp 1.000 0.000;
TERM right := Ramp 0.000 1.000;
END_FUZZIFY
DEFUZZIFY mSteer
RANGE := (0.000 .. 1.000);
TERM left := Ramp 1.000 0.000;
TERM right := Ramp 0.000 1.000;
METHOD : COG;
ACCU : MAX;
DEFAULT := nan;
END_DEFUZZIFY
RULEBLOCK mamdani
ACT : PROD;
RULE 1 : if obstacle is left then mSteer is right
RULE 2 : if obstacle is right then mSteer is left
END_RULEBLOCK
END_FUNCTION_BLOCK
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