KB UNIVERSE inclinationAngle SET muchLeft -3.1416 -3.1416 -3.1416 -2.356 SET_END SET littleLeft -2.75 -2.356 -2.356 -2.1 SET_END SET medium -2.356 -1.57 -1.57 -0.785 SET_END SET littleRight -1.05 -0.786 -0.785 -0.39 SET_END SET muchRight -0.785 0 0 0 SET_END UNIVERSE_END UNIVERSE angle SET largeLeft -1.57 -1.57 -1.57 -0.785 SET_END SET smallLeft -1.05 -0.52 -0.52 0 SET_END SET medium -0.2 0 0 0.2 SET_END SET smallRight 0 0.52 0.52 1.05 SET_END SET largeRight 0.785 1.57 1.57 1.57 SET_END UNIVERSE_END UNIVERSE deviationLeft SET largeLeft -350 -350 -350 -150 SET_END SET mediumLeft -200 -125 -125 -50 SET_END SET smallLeft -75 0 0 0 SET_END SET smallRight 0 0 0 75 SET_END SET mediumRight 50 125 125 200 SET_END SET largeRight 150 350 350 350 SET_END UNIVERSE_END VARIABLE steeringAngle angle in VARIABLE_END VARIABLE deviation deviationLeft out VARIABLE_END VARIABLE inclination inclinationAngle out VARIABLE_END RULE R1 IF ( deviation IS largeLeft AND ( inclination IS littleLeft OR inclination IS medium OR inclination IS muchLeft ) ) OR ( deviation IS largeLeft AND inclination IS littleRight ) THEN steeringAngle IS largeRight RULE_END RULE R2 IF ( ( deviation IS largeLeft OR deviation IS mediumLeft ) AND inclination IS muchRight ) OR ( ( deviation IS smallLeft AND inclination IS littleRight ) OR ( deviation IS smallRight AND inclination IS medium ) ) THEN steeringAngle IS smallLeft RULE_END RULE R3 IF ( ( deviation IS mediumLeft OR deviation IS smallLeft ) AND inclination IS muchLeft ) OR ( deviation IS smallLeft AND inclination IS muchRight ) THEN steeringAngle IS medium RULE_END RULE R4 IF ( ( deviation IS smallRight AND inclination IS muchLeft ) OR ( ( deviation IS mediumRight OR deviation IS largeRight ) AND inclination IS muchLeft ) ) OR ( ( deviation IS mediumLeft OR deviation IS smallLeft ) AND ( inclination IS littleLeft OR inclination IS medium ) ) THEN steeringAngle IS smallRight RULE_END RULE R5 IF ( ( ( deviation IS mediumRight AND ( inclination IS littleRight OR inclination IS muchRight ) ) OR deviation IS largeRight AND ( inclination IS littleRight OR inclination IS muchRight ) ) OR ( deviation IS smallRight AND ( inclination IS littleRight OR inclination IS muchRight ) ) ) OR ( ( ( deviation IS mediumRight OR deviation IS largeRight ) AND ( inclination IS littleLeft OR inclination IS medium ) ) OR ( deviation IS smallRight AND inclination IS littleLeft ) ) THEN steeringAngle IS largeLeft RULE_END KB_END