<?xml version="1.0" encoding="UTF-8"?>
<program xmlns="http://www.nomoseed.org/program" name="body">
  <header xmlns="http://www.nomoseed.org/project">
    <author/>
    <copyright>
      <mention xml:lang="en"/>
    </copyright>
    <license name="">
      <mention xml:lang="en"/>
    </license>
    <datetime>2014-07-01T17:34:12Z</datetime>
    <version>0.0</version>
    <annotation>
      <documentation xml:lang="en">What is the context?</documentation>
    </annotation>
  </header>
  <body>
    <models xmlns:xi="http://www.w3.org/2001/XInclude">
      <new instance="body">
        <xi:include href="body.mod" parse="xml"/>
      </new>
    </models>
    <scheme xmlns="http://www.nomoseed.org/program">
<scheme name="perceptions">
<scheme name="hue">
<rule name="hue_1">
<premise model="body" category="input" type="hue">
<information tolerance="2.40000E+02" value="1.80000E+02"/>
</premise>
<conclusion model="body" category="perception" type="hue">
<information value="red"/>
</conclusion>
</rule>
<rule name="hue_2">
<premise model="body" category="input" type="hue">
<information tolerance="2.86957E+01" value="1.20858E+02"/>
</premise>
<conclusion model="body" category="perception" type="hue">
<information value="green"/>
</conclusion>
</rule>
<rule name="hue_3">
<premise model="body" category="input" type="hue">
<information tolerance="2.86957E+01" value="2.39142E+02"/>
</premise>
<conclusion model="body" category="perception" type="hue">
<information value="blue"/>
</conclusion>
</rule>
</scheme>
<scheme name="strength">
<rule name="strength">
            <premise model="body" category="input" type="strength">
              <information value="1" tolerance="INF"/>
            </premise>
            <conclusion model="body" category="perception" type="strength">
              <information value="failed"/>
            </conclusion>
          </rule>
</scheme>
</scheme>
<scheme name="actions">
<scheme name="motor">
<rule name="advance">
<premise model="body" category="conception" type="motor">
<information value="advance" tolerance="0"/>
<credibility value="1" tolerance="INF"/>
<timespan value="0" tolerance="0"/>
</premise>
<conclusion model="body" category="command" type="motor">
<information value="advance"/>
<output value="2"/>
</conclusion>
</rule>
<rule name="turn_right">
<premise model="body" category="conception" type="motor">
<information value="turn_right" tolerance="0"/>
<credibility value="1" tolerance="INF"/>
<timespan value="0" tolerance="0"/>
</premise>
<conclusion model="body" category="command" type="motor">
<information value="turn_right"/>
<output value="1"/>
</conclusion>
</rule>
<rule name="turn_left">
<premise model="body" category="conception" type="motor">
<information value="turn_left" tolerance="0"/>
<credibility value="1" tolerance="INF"/>
<timespan value="0" tolerance="0"/>
</premise>
<conclusion model="body" category="command" type="motor">
<information value="turn_left"/>
<output value="0"/>
</conclusion>
</rule>
</scheme>
<scheme name="sound">
<rule name="sound_red">
            <premise model="body" category="conception" type="sound">
              <information value="red" tolerance="0"/>
              <credibility value="1" tolerance="INF"/>
              <timespan value="0" tolerance="0"/>
            </premise>
            <conclusion model="body" category="command" type="sound">
              <information value="red"/>
              <output value="0"/>
            </conclusion>
          </rule>
</scheme>
</scheme>
</scheme>
  </body>
  <sdk>
    <macro xmlns="http://www.nomoseed.org/sdk" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" active="true" name="hue" scheme="perceptions" xsi:type="discretization">
      <discretization xmlns="http://www.nomoseed.org/discretization" center="false">
        <rule name="hue">
          <premise model="body" category="input" type="hue">
            <information interval="red 60 green 180 blue 300 red"/>
          </premise>
          <conclusion model="body" category="perception" type="hue"/>
        </rule>
      </discretization>
    </macro>
    <macro xmlns="http://www.nomoseed.org/sdk" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" active="true" name="motor" scheme="actions" xsi:type="template">
      <csv xsi:type="embedded">
        motor, output
        advance, 2
        turn_right , 1
        turn_left, 0
      </csv>
      <template xmlns="http://www.nomoseed.org/template">
        <rule name="#motor">
          <premise model="body" category="conception" type="motor">
            <information value="#motor" tolerance="0"/>
            <credibility value="1" tolerance="INF"/>
            <timespan value="0" tolerance="0"/>
          </premise>
          <conclusion model="body" category="command" type="motor">
            <information value="#motor"/>
            <output value="#output"/>
          </conclusion>
        </rule>
      </template>
    </macro>
  </sdk>
</program>
