Fuzzy logic with Arduino

WHAT IS FUZZY?
• having a frizzy texture or appearance.
• difficult to perceive; indistinct or vague
• Or easily you can say “the term fuzzy refers
to things which are not clear or are vague.”
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Let’s Move
Into Fuzzy
Logic
In the real world many times we
encounter a situation when we
can’t determine whether the state
is true or false, their fuzzy logic
provides a very valuable flexibility
for reasoning. In this way, we can
consider the inaccuracies and
uncertainties of any situation.
“ Fuzzy Logic is an extension of
traditional Boolean logic, using
linguistic variables allows to express
logical values intermediate between
FALSE and TRUE, describing with
greater efficiency the uncertainty
principle in the real world.”

Characteristics
of fuzzy logic
Flexible and easy to implement machine learning technique
Helps you to mimic the logic of human thought
Logic may have two values which represent two possible solutions
Highly suitable method for uncertain or approximate reasoning
Fuzzy logic views inference as a process of propagating elastic
constraints
Fuzzy logic allows you to build nonlinear functions of arbitrary
complexity.
Fuzzy logic should be built with the complete guidance of experts

Architecture Of Fuzzy Logic

Applications
Of Fuzzy Logic
Fuzzy logic can be applied in
number of fields including
Aerospace, Automotive Business
, Defense , Electronics , Finance,
Innovative , etc.
Product Company Fuzzy Logic
Kiln control Nippon Steel Mixes cement
Microwave oven
Mitsubishi
Chemical
Sets lunes power
and cooking
strategy
Palmtop computer
Hitachi, Sharp,
Sanyo, Toshiba
Recognizes
handwritten Kanji
characters
Plasma etching Mitsubishi Electric
Sets etch time and
strategy

Implementation Of
Fuzzy Logic
• Here we use number of
steps to implement Fuzzy
logic in Arduino
• Step 01-you have to
download Arduino IDE and
install it.
Use the following link
https://www.arduino.cc/en/m
ain/software

• Step 02-Then You Have to download eFLL
library Use the following link
https://github.com/zerokol/eFLL

• Step 03-Import eFLL library Using Arduino

• Step 04-Importing Library

Code
Implementation
#include<fuzzy.h>
// Preparing a Fuzzy object
Fuzzy *fuzzy =new Fuzzy();
// here a object named fuzzy is created
// next you have to implement both void
setup() and void loop() methods.
Fuzzy OBJECT

void setup()
{
//baud rate of uno board is 9600. therefore it is serial output
Serial.begin(9600);
// Defining a FuzzyInput Object
FuzzyInput *sens1_Value=new FuzzyInput(1);
//Defining a FuzzySet Object
FuzzySet *small_Value=new FuzzySet(20,40,40,80);
//including FuzzySet into FuzzyInput
sens1_Value->addFuzzySet(small_value);
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Fuzzy Input OBJECT
FuzzySet OBJECT
11

FuzzySet *mid_Value=new FuzzySet(80,100,100,140);
sens1_Value->addFuzzySet(mid_value);
FuzzySet *large_Value=new FuzzySet(140,180,180,400);
sens1_Value->addFuzzySet(large_value);
//including FuzzyInput into Fuzzy
fuzzy->addFuzzyInput(sens1_value);
Input Range
12

//Defining Fuzzy Output Objects
FuzzyOutput *speed_1=new FuzzyOutput(1);
//Defining FuzzSet Object
FuzzySet slow_output=new FuzzySet(100,110,110,120);
//including FuzzySet into FuzzyOutput
speed_1->addFuzzySet(slow_output);
FuzzySet medium_output=new FuzzySet(120,150,150,160);
speed_1->addFuzzySet(medium_output);
Fuzzy Output OBJECT
FuzzySet OBJECT
13
output Range

FuzzySet slow_output=new FuzzySet(100,110,120);
speed_1->addFuzzySet(slow_output);
//including FuzzyOutput into Fuzzy
fuzzy->addFuzzyOutput(speed_1);

//Building Fuzzy Rules
FuzzyRuleAntecedent *if_Sens1_value_small=new FuzzyRuleAntecedent();
//creating FuzzyRuleAntecedent
if_Sens1_value_small->joinSingle(small_Value);
//creating FuzzyRuleConsequent
FuzzyRuleConsequent *then_speed1_slow=new FuzzyRuleConsequent();
//including fuzzyset to fuzzyRuleConsequent
then_speed1_slow->addOutput(slow_output);
//creating fuzzyRule objects
FuzzyRule *fuzzyRule01=new FuzzyRule(if_Sens1_value_small,
then_speed1_slow);
//including FuzzyRule into Fuzzy
Fuzzy->addFuzzyRule(FuzzyRule01);
//add fuzzy rule similarly to other inputs
}
FuzzyRuleAntecedent
OBJECT
FuzzyRuleConsequent
OBJECT

void loop()
{
//getting input from port A1
int input1=analogRead(A1);
//setting input
fuzzy->SetInput(1,input1);
//running fuzzification
fuzzy->fuzzify();
//running the defuzzification
float output1=fuzzy->defuzzify(1);
Serial.println(input1);
Serial.println(output1);
}

Let’s Move into a
Practical Example
17
Here we need
• Arduino Uno board
• L298n motor driver
• 2dc gear motors
• TCRT5000 IR sensors
• Jumper wires

Circuit Image

Define
Inputs And
Outputs
20
/*Before void setup() you should define inputs
and outputs and you can apply fuzzy logic using
above instructions*/
int S_A=11; // speed of motor A
int M_A3=2;// motor a=+
int M_A2=3; // motor a=-
int M_B1=4; // motor b= -
int M_B2=5; // motor b=+
int S_B=10; // speed of motor B;

if(digital01==0&&digital02==0)
{
if(output1>120 && output2>120 && output3>120)
{
Stop();
}
if(output1>120 && output2>120 && output3<120)
{
turnRight();
}
if(output1>120 && output2<120 && output3>120)
{
Stop();
}
if(output1>120 && output2<120 && output3<120)
{
turnRight();
}
if(output1<120 && output2>120&& output3>120)
{
turnLeft();
}

if(output1<120 && output2>120 && output3<120)
{
forword();
}
if(output1<120 && output2<120 && output3>120)
{
turnLeft();
}
if(output1<120 && output2<120 && output3<120)
{
forword();
}
if(digital01==0 &&digital02==1)
{
turnLeft();
}

Code For
Motors
23
void forword(){
analogWrite(S_A,70);
analogWrite(S_B,70);
digitalWrite(M_A3,HIGH);
digitalWrite(M_B2,HIGH);
Serial.println("Forward");
}
void turnRight(){
digitalWrite(M_A3,LOW);
digitalWrite(M_B2,HIGH);
Serial.println("TurnRight");
}
•

void turnLeft(){
digitalWrite(M_A3,HIGH);
digitalWrite(M_B2,LOW);
Serial.println("TurnLeft");
}
void Stop(){
digitalWrite(M_A3,LOW);
digitalWrite(M_B2,LOW);
Serial.println("Stop");
}

Fuzzy logic with Arduino

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