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$ FILENAME: pdlm2.fil                           
$ this symbol is the comment symbol
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fiu tvfi (min max); 
$mamdani/tvfi (min max prod sum binter bunion) 1.0 4 5 6 7 8
>velocity " "   [
      PL (@0,255, @32,255, @80,0),
      PM (@32,0, @80, 255, @112,0),
      PS (@80,0, @112,255, @144,0),
      NS (@112,0, @144,255, @176,0),
      NM (@144,0, @176,255, @222,0),
      NL (@176,0, @222,255, @255,255)
    ];
                                   $ end of labels
>angle " "  [
      NL (@0,255, @64,0),
      NM (@0,0, @64, 255, @128,0),
      ZR (@64,0, @128,255, @192,0),
      PM (@128,0, @192,255, @255,0),
      PL (@192,0, @255,255)     
    ];


< voltage "volt" * (
	  NL = 0,      $ voltage is an output variable
          NM = 90,     $ *=centroid, ^= max, ^+=right max, ^-=left max.
          NS = 106,
          PS = 150,
          PM = 166,
          PL = 255
        );        


$ rules start here:

if velocity is NL and angle is NL then voltage is NL;
if velocity is NL and angle is NM then voltage is NL;
if velocity is NL and angle is ZR then voltage is NL;
if velocity is NL and angle is PM then voltage is NM;
if velocity is NL and angle is PL then voltage is NS;

if velocity is NM and angle is NL then voltage is NL;
if velocity is NM and angle is NM then voltage is NL;
if velocity is NM and angle is ZR then voltage is NM;
if velocity is NM and angle is PM then voltage is NS;
if velocity is NM and angle is PL then voltage is PS;

if velocity is NS and angle is NL then voltage is NL;
if velocity is NS and angle is NM then voltage is NM;
if velocity is NS and angle is ZR then voltage is NS;
if velocity is NS and angle is PM then voltage is PS;
if velocity is NS and angle is PL then voltage is PM;

if velocity is PS and angle is NL then voltage is NM;
if velocity is PS and angle is NM then voltage is NS;
if velocity is PS and angle is ZR then voltage is PS;
if velocity is PS and angle is PM then voltage is PM;
if velocity is PS and angle is PL then voltage is PL;

if velocity is PM and angle is NL then voltage is NS;
if velocity is PM and angle is NM then voltage is PS;
if velocity is PM and angle is ZR then voltage is PM;
if velocity is PM and angle is PM then voltage is PL;
if velocity is PM and angle is PL then voltage is PL;

if velocity is PL and angle is NL then voltage is PS;
if velocity is PL and angle is NM then voltage is PM;
if velocity is PL and angle is ZR then voltage is PL;
if velocity is PL and angle is PM then voltage is PL;
if velocity is PL and angle is PL then voltage is PL
end