Koord

# Koord program: Rendezvous - robots converge to centroid of positions
# Based on the Koord language for distributed cyber-physical systems

using Motion:
    allread: map[pid, float] x_pos
    allread: map[pid, float] y_pos
    allwrite: float my_x
    allwrite: float my_y

module Rendezvous:
    sensors:
        float x
        float y
    actuators:
        float vx
        float vy

    def centroid_x():
        return sum(x_pos[i] for i in range(num_robots)) / num_robots

    def centroid_y():
        return sum(y_pos[i] for i in range(num_robots)) / num_robots

    init:
        vx = 0.0
        vy = 0.0

    every 100ms:
        my_x = x
        my_y = y
        vx = centroid_x() - x
        vy = centroid_y() - y