// Robot_Q1.sce
clear
function code = dec2baseArray(N, Size, base)
    code = zeros(1,Size);
    Nc = N;
    i = 0;
    for k = Size-1 : -1 : 0
        i = i+1
        p = int(Nc/(base^k))
        code(i) = p;
        Nc = Nc - p*(base^k);
    end // for k
endfunction

Size  = 8
Nmode = 3
Ncombi = Nmode^Size
code = zeros(Ncombi, Size);
for k = 1:Ncombi
    code(k,:) = dec2baseArray(k-1, Size, Nmode);
end


function Xdot = F(t, X, currentmode)
    // mode 0: virage gauche
    // mode 1 : tout droit
    // mode 1 : virage droite
    M = X(1:2)
    V = X(3:4)
    c = 0.1;
    if (currentmode==0) then
        Vdot = c*[0 -1; 1 0]*V;
    elseif (currentmode==1) then
        Vdot = [0;0];
    elseif (currentmode==2) then
        Vdot = -c*[0 -1; 1 0]*V;
    end // if
    Xdot(1:2) = V;
    Xdot(3:4) = Vdot;
endfunction
clf

code = [2 2 0 2 1 1 2 1];
DT = 10;
X0 = [0, 0, 0.1, 0]'; 
Xstart = X0;
Xd = [];
td = 0.5 : 0.5 : DT;

for iseq = 1 : Size
    Xsol = ode(Xstart, 0, td, list(F,code(iseq)));
    Xstart = Xsol(:,$);  
    Xd = [Xd, Xsol];  
end
//clf;
plot(Xd(1,:), Xd(2,:), '-', 'lineWidth', 3); xgrid;