(* FCL File Created From FFLL Model: Thu Aug 01 11:37:45 2002 *)

FUNCTION_BLOCK

VAR_INPUT
	Separation		REAL; (* RANGE(-200 .. 200) *) 
END_VAR

VAR_OUTPUT
	Velocity		REAL; (* RANGE(-29.3 .. 29.3) *)
END_VAR

FUZZIFY Separation
	TERM LG_NEG := (-200, 0) (-200, 1) (-110, 1) (-40, 0);
	TERM MD_NEG := (-130,0) (-110, 1) (-58, 1) (-15, 0);
	TERM SM_NEG := (-50, 0) (-10, 1) (0, 0);
	TERM ZERO := (-15, 0) (0, 1) (15, 0);
	TERM SM_POS := (0, 0) (10, 1) (50, 0);
	TERM MD_POS := (15, 0) (58, 1) (110, 1) (130, 0);
	TERM LG_POS := (40, 0) (110, 1)(200, 1) (200, 0);
END_FUZZIFY

FUZZIFY Velocity
	TERM LG_NEG := (-29.3, 0) (-29.3, 1) (-26, 0);
	TERM MD_NEG := (-26, 0) (-15, 1) (-10, 0);
	TERM SM_NEG := (-13, 0) (-8, 1) (-1, 0);
	TERM ZERO := (-2, 0) (0, 1) (2, 0);
	TERM SM_POS := (1, 0) (8, 1) (13, 0);
	TERM MD_POS := (10, 0) (15, 1) (26, 0);
	TERM LG_POS := (26, 0) (29.3, 1) (29.3, 0);
END_FUZZIFY

DEFUZZIFY Velocity
	METHOD: COG;
END_DEFUZZIFY

RULEBLOCK first
	AND:MIN;
	ACCU:MAX;
	RULE 0: IF (Separation IS LG_NEG) THEN (Velocity IS LG_NEG);
	RULE 1: IF (Separation IS MD_NEG) THEN (Velocity IS LG_NEG);
	RULE 2: IF (Separation IS SM_NEG) THEN (Velocity IS SM_NEG);
	RULE 3: IF (Separation IS ZERO) THEN (Velocity IS ZERO);
	RULE 4: IF (Separation IS SM_POS) THEN (Velocity IS SM_POS);
	RULE 5: IF (Separation IS MD_POS) THEN (Velocity IS LG_POS);
	RULE 6: IF (Separation IS LG_POS) THEN (Velocity IS LG_POS);
END_RULEBLOCK

END_FUNCTION_BLOCK