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FIGURE 16.4
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endif MemPtr = MemPtr+1 endif endif else Action=RESPOND gosub DisplayAction Delay 200 endif endif wend Return //============================================================= //============================================================= //--- Subroutine DoMovement //--- Inputs : Movement,MemPtr,BadPtr,CurCell,Needs[],Rx,Ry //--- Outputs : Needs[],LastCell,Action,Status,CurCell //--- Calls To: DispStatusMeter,DisplayAction,CheckStatus //--//--- Moves the robot based on the variable Movement the //--- robot retreats from painful events, which are reported //--- through the variable Status //------------------------------------------------------------DoMovement: SetColor LightGreen xyString 150,15,"# Good Mem ",MemPtr xyString 300,15,"# Bad Mem ",BadPtr Status=0 LastCell = CurCell // save where we came from // Increase Needs Needs[HUNGRY] = Needs[HUNGRY]+1 if random (50)>25 then Needs[SLEEPY] = Needs[SLEEPY] + 1 Needs[BORED] = Needs[BORED] + 1 For DM_Which = 0 to 2 gosub DispStatusMeter Next while rCompass() <> 90*Movement rTurn 90 wend for i=1 to 120 rForward 1 if rBumper() Action = RETREAT Gosub DisplayAction rForward -i Status = PAIN return endif next dRx = 0 \ dRy = 0 if Movement = EAST then dRx = 1 if Movement = WEST then dRx = -1 if Movement = NORTH then dRy = -1 if Movement = SOUTH then dRy = 1 Rx = Rx+dRx \ Ry = Ry+dRy CurCell = 5*Rx+Ry if CurCell=PAIN_AREA_1 or CurCell=PAIN_AREA_2 or CurCell=PAIN_AREA_3
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FIGURE 16.4
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TRUE INTELLIGENCE: ADAPTIVE BEHAVIOR
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Status = PAIN Action = RETREAT Gosub DisplayAction rForward -120 Rx = Rx-dRx \ Ry = Ry-dRy endif gosub CheckStatus return //============================================================= //============================================================= //--- Subroutine DisplayAction //--- Inputs : Action,ACTIONS[] //--- Outputs : none //--- Calls To: none //--//--- Displays the current action in the actions list //------------------------------------------------------------DisplayAction: SetColor Black xyString 735,440,"ACTION" line 733,457,790,457 SetColor Yellow For DA_I = 1 to 7 xystring 728,450+15*DA_I,ACTIONS[DA_I] next if Action <> NOACTION Setcolor Blue xyString 728,450+15*Action,ACTIONS[Action] endif return //============================================================= //============================================================= //--- Subroutine DispStatusMeter //--- Inputs : DM_Which,Needs[] //--- Outputs : none //--- Calls To: none //--//--- Updates the meters display //------------------------------------------------------------DispStatusMeter: DM_Incr = DM_Which*140 if Needs[DM_Which] > 100 then Needs[DM_Which] = 100 DM_Value = 100-Needs[DM_Which] rectangle 732,50+DM_Incr,793,149+DM_Incr,white,white rectangle 732,50+DM_Value+DM_Incr,793,149+DM_Incr,Cyan,Cyan line 732,65+DM_Incr,793,65+DM_Incr,3,Red return //============================================================= //============================================================= //--- Subroutine CheckStatus //--- Inputs : Status,CurCell,Memory[],MemPtr,CurNeed,Needs[] //--- Outputs : Status //--- Calls To: DispStatusMeter,DisplayAction //--//--- Updates the status of the robot and displays the action //--- being taken //-------------------------------------------------------------
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FIGURE 16.4
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CheckStatus: if Status = PAIN then return // Sets Status if Pleasure Status = 0 DM_Which = -1 if (CurCell=EAT_AREA) and (CurNeed=EAT) Action = EAT gosub DisplayAction Needs[SLEEPY] = Needs[SLEEPY] + 15 Needs[BORED] = Needs[BORED] + 10 DM_Which = HUNGRY elseif (CurCell=SLEEP_AREA_1 or CurCell=SLEEP_AREA_2) and CurNeed=SLEEP Action = SLEEP gosub DisplayAction Needs[HUNGRY] = Needs[HUNGRY]+5 Needs[BORED] = Needs[BORED]+20 DM_Which = SLEEPY elseif (CurCell=PLAY_AREA) and (CurNeed=PLAY) Action = PLAY gosub DisplayAction Needs[HUNGRY] = Needs[HUNGRY]+20 Needs[SLEEPY] = Needs[SLEEPY] + 20 DM_Which = BORED elseif MemPtr>0 for i=0 to MemPtr-1 if (Memory[i,0]=CurNeed) and (Memory[i,1]=CurCell) // this cell is on the good list Status = PLEASURE return endif next endif if DM_Which < 0 then return for CS_I=Needs[DM_Which] to 0 step -1 Needs[DM_Which] = CS_I gosub DispStatusMeter delay 50 next Status = PLEASURE For DM_Which = 0 to 2 gosub DispStatusMeter Next return //============================================================= //============================================================= //--- Subroutine CheckMemory //--- Inputs : Memory[],MemPtr,Needs[],CurCell //--- Outputs : CurNeed,HaveResponse //--- Calls To: none //--//--- Uses the biological needs to cause reflexive actions //--- such as eating and sleeping. Other needs are affected by //--- these actions. //------------------------------------------------------------CheckMemory: // First Establish Current Need
FIGURE 16.4
(Continued )
TRUE INTELLIGENCE: ADAPTIVE BEHAVIOR
CurNeed = 0 Maximum = Needs[HUNGRY] for CM_I = SLEEPY to BORED if Needs[CM_I] > Maximum then Maximum=Needs[CM_I] next if Maximum > NEEDS_THRESHOLD if Maximum = Needs[BORED] then CurNeed = PLAY if Maximum = Needs[SLEEPY] then CurNeed = SLEEP if Maximum = Needs[HUNGRY] then CurNeed = EAT //Hunger is higher order priority than sleep and //sleep is higher order than play endif // sets variable HaveResponse to position of match // in memory or zero (false) if no match is found HaveResponse = 0 if MemPtr=0 then return for i=0 to MemPtr-1 if (CurNeed=Memory[i,0]) and (CurCell=Memory[i,1]) HaveResponse=i // shows where found break endif next return //============================================================= //============================================================= //--- Subroutine CheckBadList //--- Inputs : BadPtr,BadList[],CurCell,Movement //--- Outputs : Bad //--- Calls To: none //--//--- Checks to see if a proposed move from a cell is in the //--- bad move memory //------------------------------------------------------------CheckBadList: // sets variable BAD Bad=false if BadPtr=0 then return for i=0 to BadPtr-1 if (BadList[i,0]=CurCell) and (BadList[i,1]=Movement) Bad = True break endif next return //============================================================= //============================================================= //--- Subroutine DisplayInstructions //--- Inputs : none //--- Outputs : Key //--- Calls To: none //--//--- Displays instruction and waits for a key press then //--- returns the character pressed in the variable Key //------------------------------------------------------------DisplayInstructions:
data MI;"Figure16.04.Bas" data MI;"This program transforms the robot into a 'living' creature."
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