# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395182050 14400
# Node ID 40b67bb71430e1acd382047951689f1a8a81cf02
# Parent  9b4a4da08b784d0f3c0afa3b7b8143ee84efb80a
save progress.

diff -r 9b4a4da08b78 -r 40b67bb71430 org/worm_learn.clj
--- a/org/worm_learn.clj	Mon Mar 17 20:52:16 2014 -0400
+++ b/org/worm_learn.clj	Tue Mar 18 18:34:10 2014 -0400
@@ -9,7 +9,8 @@
   (:import com.aurellem.capture.RatchetTimer)
   (:import (com.aurellem.capture Capture IsoTimer))
   (:import (com.jme3.math Vector3f ColorRGBA)))
-  
+
+(use 'clojure.pprint)
 
 (dorun (cortex.import/mega-import-jme3))
 (rlm.rlm-commands/help)
@@ -26,7 +27,7 @@
 
 (defn motor-control-program
   "Create a function which will execute the motor script"
-  [muscle-positions
+  [muscle-labels
    script]
   (let [current-frame (atom -1)
         keyed-script (group-by first script)
@@ -39,7 +40,7 @@
         (doall (map (fn [effector power]
                       (effector (int power)))
                     effectors
-                    (map #(@current-forces % 0) muscle-positions)))))))
+                    (map #(@current-forces % 0) muscle-labels)))))))
 
 (defn worm-direct-control
   "Create keybindings and a muscle control program that will enable
@@ -96,8 +97,8 @@
      [(+ time-base (+ (* 2 period) 2))  extensor 0]]))
   
 (def wiggle-script
-  (mapcat gen-wiggle (repeat 40 [:a-down :a-up])
-                     (range 100 10000 (+ 3 (* period 2)))))
+  (mapcat gen-wiggle (repeat 4000 [:a-down :a-up])
+                     (range 100 1000000 (+ 3 (* period 2)))))
 
 
 ;; Normally, we'd use unsupervised/supervised machine learning to pick
@@ -132,28 +133,40 @@
   "Does the worm form a majestic circle (one end touching the other)?"
   [experiences]
   (and (curled? experiences)
-       true))
+       true)) ;; TODO: add code here.
 
 (defn vector:last-n [v n]
   (let [c (count v)]
     (if (< c n) v
         (subvec v (- c n) c))))
 
+(defn touch-average [[coords touch]]
+  (/ (average (map first touch)) (average (map second touch))))
+
+(defn floor-contact [[coords contact :as touch]]
+  (let [raw-average
+        (average
+         (map
+          first
+          (vals
+           (select-keys
+            (zipmap coords contact)
+            [[8 15] [8 16] [8 17] [8 18] [8 19] [8 20] [8 21] [8 22] [9 15]
+             [9 16] [9 17] [9 18] [9 19] [9 20] [9 21] [9 22] [10 15] [10 16]
+             [10 17] [10 18] [10 19] [10 20] [10 21] [10 22] [11 15] [11 16]
+             [11 17] [11 18] [11 19] [11 20] [11 21] [11 22] [12 15] [12 16]
+             [12 17] [12 18] [12 19] [12 20] [12 21] [12 22] [13 15] [13 16]
+             [13 17] [13 18] [13 19] [13 20] [13 21] [13 22] [14 15] [14 16]
+             [14 17] [14 18] [14 19] [14 20] [14 21] [14 22]]))))]
+    (Math/abs (- 1. (* 10 raw-average)))))
+
+
 (defn wiggling?
   "Is the worm wiggling?"
   [experiences]
-  (vector:last-n
+  (vector:last-n experiences 200)
   
-
-))
-
-
-
-
-
-(defn resting?
-  "Is the worm on the ground in a neutral position?"
-  [])
+)
 
 (def standard-world-view
   [(Vector3f. 4.207176, -3.7366982, 3.0816958)
@@ -223,7 +236,11 @@
                            :proprioception proprioception-data
                            :muscle muscle-data})
              (if (curled? @experiences) (println "Curled"))
-             (if (straight? @experiences)    (println "Straight"))
+             ;;(if (straight? @experiences)    (println "Straight"))
+             (println-repl
+              (apply format "%.2f %.2f %.2f %.2f %.2f\n"
+                     (map floor-contact touch-data)))
+
              )
            (muscle-display
             muscle-data
diff -r 9b4a4da08b78 -r 40b67bb71430 thesis/org/roadmap.org
--- a/thesis/org/roadmap.org	Mon Mar 17 20:52:16 2014 -0400
+++ b/thesis/org/roadmap.org	Tue Mar 18 18:34:10 2014 -0400
@@ -193,6 +193,7 @@
     CLOCK: [2014-03-17 Mon 17:31]--[2014-03-17 Mon 17:42] =>  0:11
 *** TODO complete three phi-stream action predicatates; test them with debug control
     SCHEDULED: <2014-03-17 Mon>
+    CLOCK: [2014-03-17 Mon 19:19]
 *** TODO create test videos, also record positions of worm segments
     SCHEDULED: <2014-03-17 Mon>
 *** TODO complete proprioception based movement lookup in phi-space