Can't get correct output values

[Unknown]

Juan: I’m sorry to bother you again. I’ve been looking everywhere to see if I can solve this by myself (so far to no avail)
I just can’t get the correct output values for a Fuzzycontroller created in Qtfuzzylite 5.0

My controller looks like this

Engine* engine = new Engine;

engine->setName(“Mono A Angulo”);

InputVariable* inputVariable1 = new InputVariable;
inputVariable1->setEnabled(true);
inputVariable1->setName(“MonoSensor1”);
inputVariable1->setRange(0.000, 255.000);
inputVariable1->addTerm(new Triangle(“Negro”, 0.000, 63.500, 127.000));
inputVariable1->addTerm(new Triangle(“Gris”, 63.500, 127.000, 190.500));
inputVariable1->addTerm(new Triangle(“Blanco”, 127.000, 190.500, 255.000));
engine->addInputVariable(inputVariable1);

InputVariable* inputVariable2 = new InputVariable;
inputVariable2->setEnabled(true);
inputVariable2->setName(“Monosensor2”);
inputVariable2->setRange(0.000, 255.000);
inputVariable2->addTerm(new Triangle(“Negro”, 0.000, 63.500, 127.000));
inputVariable2->addTerm(new Triangle(“Gris”, 63.500, 127.000, 190.500));
inputVariable2->addTerm(new Triangle(“Blanco”, 127.000, 190.500, 255.000));
engine->addInputVariable(inputVariable2);

OutputVariable* outputVariable = new OutputVariable;
outputVariable->setEnabled(true);
outputVariable->setName(“Angulo”);
outputVariable->setRange(0.000, 180.000);
outputVariable->fuzzyOutput()->setAccumulation(new Maximum);
outputVariable->setDefuzzifier(new Centroid(200));
//outputVariable->setDefaultValue(90.000);
outputVariable->setLockPreviousOutputValue(false);
outputVariable->setLockOutputValueInRange(false);
outputVariable->addTerm(new Triangle(“ANGmen”, 0.000, 45.000, 90.000));
outputVariable->addTerm(new Triangle(“NC”, 45.000, 90.000, 135.000));
outputVariable->addTerm(new Triangle(“ANGmas”, 90.000, 135.000, 180.000));
engine->addOutputVariable(outputVariable);

RuleBlock* ruleBlock = new RuleBlock;
ruleBlock->setEnabled(true);
ruleBlock->setName(“”);
ruleBlock->setConjunction(new Minimum);
ruleBlock->setDisjunction(new Maximum);
ruleBlock->setActivation(new Minimum);
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Blanco and Monosensor2 is Blanco then Angulo is NC”, engine));
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Blanco and Monosensor2 is Gris then Angulo is ANGmas”, engine));
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Blanco and Monosensor2 is Negro then Angulo is very ANGmas”, engine));
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Gris and Monosensor2 is Blanco then Angulo is ANGmen”, engine));
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Gris and Monosensor2 is Gris then Angulo is NC”, engine));
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Gris and Monosensor2 is Negro then Angulo is somewhat ANGmas”, engine));
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Negro and Monosensor2 is Blanco then Angulo is very ANGmen”, engine));
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Negro and Monosensor2 is Gris then Angulo is somewhat ANGmen”, engine));
ruleBlock->addRule(fl::Rule::parse(“if MonoSensor1 is Negro and Monosensor2 is Negro then Angulo is NC”, engine));
engine->addRuleBlock(ruleBlock);

Point3i sensor1M = fondo1.at<Vec3b>(s1cPos.y, s1cPos.x);// Scan for 0-255 color value
short a = sensor1M.x; // Store only the first component For monochromatic usable in realtime execution
double a1 = 252;
inputVariable1->setInputValue(a1); // Forced Input for Monosensor1 AKA inputVariable1

Point3i sensor2M = fondo1.at<Vec3b>(s1cPos.y, s1cPos.x);
short b = sensor2M.x;
double b1 = 252;
inputVariable1->setInputValue(b1);

cout << “S1 is ” << a1 << endl;
cout << “S2 is ” << b1 << endl;

engine->process();

angle = outputVariable->getOutputValue(); // Angle is a type double variable
cout << “Angle is ” << angle << endl;

So far I haven’t had any luck geting my fuzzycontroller to work. It’s a type of line follower, but with a few modifications. The controller itself works as intended on qtfuzzylite 5.0 but the correct output for I1 = 252, I2 = 252 should be a solid 90, but instead shows me 112.5

A lil insight about the controller It should take a number between 0-255 for each sensor and give me an angle between 0-180

Also sorry for the variable names, but Whenever I use c++ to export, my variables refuse to get renamed.

Am I skiping a step to retrieve my outputs? Also bear in mind I’m forcing inputs directly with a1 and b1

[Juan Rada-Vilela (admin)]

Hi,

could you please post the engine in FLL code?

Cheers.

[Unknown]

Sure. Here

Engine: Mono A Angulo
InputVariable: MonoSensor1
enabled: true
range: 0.000 255.000
term: Negro Triangle 0.000 63.500 127.000
term: Gris Triangle 63.500 127.000 190.500
term: Blanco Triangle 127.000 190.500 255.000
InputVariable: Monosensor2
enabled: true
range: 0.000 255.000
term: Negro Triangle 0.000 63.500 127.000
term: Gris Triangle 63.500 127.000 190.500
term: Blanco Triangle 127.000 190.500 255.000
OutputVariable: Angulo
enabled: true
range: 0.000 180.000
accumulation: Maximum
defuzzifier: Centroid 200
default: nan
lock-previous: false
lock-range: false
term: ANGmen Triangle 0.000 45.000 90.000
term: NC Triangle 45.000 90.000 135.000
term: ANGmas Triangle 90.000 135.000 180.000
RuleBlock:
enabled: true
conjunction: Minimum
disjunction: Maximum
activation: Minimum
rule: if MonoSensor1 is Blanco and Monosensor2 is Blanco then Angulo is NC
rule: if MonoSensor1 is Blanco and Monosensor2 is Gris then Angulo is ANGmas
rule: if MonoSensor1 is Blanco and Monosensor2 is Negro then Angulo is very ANGmas
rule: if MonoSensor1 is Gris and Monosensor2 is Blanco then Angulo is ANGmen
rule: if MonoSensor1 is Gris and Monosensor2 is Gris then Angulo is NC
rule: if MonoSensor1 is Gris and Monosensor2 is Negro then Angulo is somewhat ANGmas
rule: if MonoSensor1 is Negro and Monosensor2 is Blanco then Angulo is very ANGmen
rule: if MonoSensor1 is Negro and Monosensor2 is Gris then Angulo is somewhat ANGmen
rule: if MonoSensor1 is Negro and Monosensor2 is Negro then Angulo is NC

[Juan Rada-Vilela (admin)]

Hi,

I also see the output you mention in QtFuzzyLite. I cannot check the C++ code, but you could try the following:

Engine* engine = FllImporter().fromFile("path/to/your/file.fll");
//set the inputvariables, process the engine, check the output variables

Just to discard if the problem is in your C++ code.

Cheers.

[Unknown]

AHhahahaa I was triying your solution when I realized that I’m duuuuuuuuuuuuuuuuuuuuuuuuuuuuumb :/

inputVariable1->setInputValue(a1); // Forced Input for Monosensor1 AKA inputVariable1

Point3i sensor2M = fondo1.at<Vec3b>(s1cPos.y, s1cPos.x);
short b = sensor2M.x;
double b1 = 252;
inputVariable1->setInputValue(b1);

I was forcing both variables as input1, now it works as intended. Thanks!

[Author]

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