# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1395253453 14400
# Node ID 54ef2e06c3ef41eb72123734f7b3e945e59c76af
# Parent  cc99572410768cb5b18a69d24a4f9ee55dd87dbf
gave main worm a consistent muscle order.

diff -r cc9957241076 -r 54ef2e06c3ef assets/Models/worm/worm.blend
Binary file assets/Models/worm/worm.blend has changed
diff -r cc9957241076 -r 54ef2e06c3ef org/worm_learn.clj
--- a/org/worm_learn.clj	Wed Mar 19 13:21:49 2014 -0400
+++ b/org/worm_learn.clj	Wed Mar 19 14:24:13 2014 -0400
@@ -11,6 +11,10 @@
   (:import (com.aurellem.capture Capture IsoTimer))
   (:import (com.jme3.math Vector3f ColorRGBA)))
 
+(import org.apache.commons.math3.transform.TransformType)
+(import org.apache.commons.math3.transform.FastFourierTransformer)
+(import org.apache.commons.math3.transform.DftNormalization)
+
 (use 'clojure.pprint)
 (use 'clojure.set)
 (dorun (cortex.import/mega-import-jme3))
@@ -58,10 +62,10 @@
         worm-keys
         ["key-f" "key-r"
          "key-g" "key-t"
-         "key-y" "key-h"
+         "key-h" "key-y"
          "key-j" "key-u"
-         "key-i" "key-k"
-         "key-o" "key-l"]]
+         "key-k" "key-i"
+         "key-l" "key-o"]]
     {:motor-control
      (fn [effectors]
       (doall
@@ -83,11 +87,11 @@
 (def period 18)
 
 (def worm-muscle-labels
-  [:base-up :base-down
+  [:base-down :base-up
    :a-down :a-up
-   :b-up :b-down
+   :b-down :b-up
    :c-down :c-up
-   :d-up :d-down])
+   :d-down :d-up])
 
 (defn gen-wiggle [[flexor extensor :as muscle-pair] time-base]
   (let [period period
@@ -166,10 +170,17 @@
       (- 1)
       (Math/abs)))
 
+(defn fft [nums]
+  (.transform
+   (FastFourierTransformer. DftNormalization/UNITARY)
+   (double-array nums) TransformType/FORWARD))
+
+(def indexed (partial map-indexed vector))
+
 (defn wiggling?
   "Is the worm wiggling?"
   [experiences]
-  (vector:last-n experiences 200)
+  (map (comp first :muscle) (vector:last-n experiences 200))
   
 )