# HG changeset patch
# User Robert McIntyre <rlm@mit.edu>
# Date 1396572489 14400
# Node ID 90b236381642d04eb38c8065f00a4106c687551a
# Parent  1e51263afdc089070c251c2e4b48e34fb3b4c4f0
s.

diff -r 1e51263afdc0 -r 90b236381642 thesis/dylan-cortex-diff.diff
--- a/thesis/dylan-cortex-diff.diff	Mon Mar 31 09:21:28 2014 -0400
+++ b/thesis/dylan-cortex-diff.diff	Thu Apr 03 20:48:09 2014 -0400
@@ -285,12 +285,3 @@
     The most important archetictural decision of all is the choice to
     use a computer-simulated environemnt in the first place! The world
     is a vast and rich place, and for now simulations are a very poor
-@@ -436,7 +554,7 @@
-     doing everything in software is far cheaper than building custom
-     real-time hardware. All you need is a laptop and some patience.
- 
--** Because of Time, simulation is perferable to reality
-+** Simulated time enables rapid prototyping and complex scenes 
- 
-    I envision =CORTEX= being used to support rapid prototyping and
-    iteration of ideas. Even if I could put together a well constructed
diff -r 1e51263afdc0 -r 90b236381642 thesis/garbage_cortex.org
--- a/thesis/garbage_cortex.org	Mon Mar 31 09:21:28 2014 -0400
+++ b/thesis/garbage_cortex.org	Thu Apr 03 20:48:09 2014 -0400
@@ -97,4 +97,46 @@
 
 \cite{Tappert77}
 lol
-\cite{Tappert77}
\ No newline at end of file
+\cite{Tappert77}
+
+
+
+
+   #+caption: This sensory predicate detects when the worm is resting on the 
+   #+caption: ground using the worm's sense of touch.
+   #+name: resting-intro
+   #+begin_listing clojure
+   #+begin_src clojure
+(defn resting?
+  "Is the worm resting on the ground?"
+  [experiences]
+  (every?
+   (fn [touch-data]
+     (< 0.9 (contact worm-segment-bottom touch-data)))
+   (:touch (peek experiences))))
+   #+end_src
+   #+end_listing
+
+   #+caption: Even complicated actions such as ``wiggling'' are fairly simple
+   #+caption: to describe with a rich enough language.
+   #+name: wiggling-intro
+   #+begin_listing clojure
+   #+begin_src clojure
+(defn wiggling?
+  "Is the worm wiggling?"
+  [experiences]
+  (let [analysis-interval 0x40]
+    (when (> (count experiences) analysis-interval)
+      (let [a-flex 3
+            a-ex   2
+            muscle-activity
+            (map :muscle (vector:last-n experiences analysis-interval))
+            base-activity
+            (map #(- (% a-flex) (% a-ex)) muscle-activity)]
+        (= 2
+           (first
+            (max-indexed
+             (map #(Math/abs %)
+                  (take 20 (fft base-activity))))))))))
+   #+end_src
+   #+end_listing