rules.asm

This program implements a PIC-based fuzzy inference engine for the Fudge fuzzy development system

INPUT_MFS		; Input Membership Functions

IN0MF			;            Angle

		DT	0x00,0x00,0x33,0x0a	;   Negative_Large

		DT	0x33,0x0a,0x4d,0x09	;  Negative_Medium

		DT	0x4d,0x0b,0x66,0x0a	;   Negative_Small

		DT	0x66,0x0a,0x80,0x09	;             Zero

		DT	0x80,0x0b,0x99,0x0a	;   Positive_Small

		DT	0x99,0x0a,0xb3,0x09	;  Positive_Medium

		DT	0xb3,0x09,0xff,0x00	;   Positive_Large

		DT	0x00,0x00,0x00,0x00	;                ~

IN1MF			;      Delta_Angle

		DT	0x00,0x00,0x1a,0x08	;   Negative_Large

		DT	0x1a,0x08,0x3c,0x08	;  Negative_Medium

		DT	0x3c,0x08,0x5e,0x08	;   Negative_Small

		DT	0x5e,0x08,0x80,0x08	;             Zero

		DT	0x80,0x08,0xa2,0x08	;   Positive_Small

		DT	0xa2,0x08,0xc4,0x08	;  Positive_Medium

		DT	0xc4,0x08,0xff,0x00	;   Positive_Large

		DT	0x00,0x00,0x00,0x00	;                ~

SGLTN_POS		; Output Membership Functions

OUT0MF			;    Motor_Current

		DT	0x00		;   Negative_Large

		DT	0x2b		;  Negative_Medium

		DT	0x55		;   Negative_Small

		DT	0x80		;             Zero

		DT	0xaa		;   Positive_Small

		DT	0xd5		;  Positive_Medium

		DT	0xff		;   Positive_Large

		DT	0x00		;                ~

RULE_START		; Rules follow:

		DT	0x00

		DT	0x0b

		DT	0x86

		DT	0x01

		DT	0x0b

		DT	0x85

		DT	0x02

		DT	0x0b

		DT	0x84

		DT	0x02

		DT	0x0c

		DT	0x84

		DT	0x03

		DT	0x08

		DT	0x86

		DT	0x03

		DT	0x09

		DT	0x85

		DT	0x03

		DT	0x0b

		DT	0x83

		DT	0x03

		DT	0x0c

		DT	0x82

		DT	0x03

		DT	0x0d

		DT	0x81

		DT	0x03

		DT	0x0e

		DT	0x80

		DT	0x04

		DT	0x0a

		DT	0x82

		DT	0x04

		DT	0x0b

		DT	0x82

		DT	0x05

		DT	0x0b

		DT	0x81

		DT	0x06

		DT	0x0b

		DT	0x80

		DT	0x03

		DT	0x0a

		DT	0x84

END_OF_RULE	DT	0xff

NUMINP	EQU	0x2

NUMOUT	EQU	0x1