class Simulator(tk.Tk):
def __init__(self, dt):
self.WIDTH = 1000.0
self.HEIGHT = 500.0
self.time = 0.0
self.dt = dt
tk.Tk.__init__( self )
self.drone = Drone(self.dt)
#self.drone2 = Drone(self.dt)
self.control = Control(self.drone)
#self.control2 = Control(self.drone2)
self.drone.setControl(self.control)
#self.drone2.setControl(self.control2)
screen = tk.Frame(self)
screen.pack()
self.canvas = tk.Canvas(screen, width=self.WIDTH, height=self.HEIGHT,borderwidth=10)
self.canvas.grid(column=1, row=1)
self.infos = InfoPanel(screen, self.drone)
self.infos.panel.grid(column=2, row=1)
#self.infos2 = InfoPanel(screen, self.drone2)
#self.infos2.panel.grid(column=3, row=1)
# to receive commands
screen.focus_set()
self.drone_ui = self.canvas.create_oval(40, self.HEIGHT, 50, self.HEIGHT-10, fill = "red")
#self.drone2_ui = self.canvas.create_oval(100, self.HEIGHT, 110, self.HEIGHT-10, fill = "blue")
def onBtnUpHand(e):
self.control.onBtnUp()
def onBtnDownHand(e):
self.control.onBtnDown()
def onBtnLeftHand(e):
self.control.onBtnLeft()
def onBtnRightHand(e):
self.control.onBtnRight()
def onBtnAHand(e):
if self.control.switch == 0:
self.control.setSwitch(1)
self.control.load(self.control.stay, self.drone.pos)
def onBtnRHand(e):
self.control.reset()
def onBtnGHand(e):
if self.control.switch == 0:
self.control.setSwitch(1)
self.control.load(self.control.goto, [Vector(0,50), Vector(30,100)])
def onBtnOHand(e):
self.control.resetControl()
screen.bind("<Up>", onBtnUpHand)
screen.bind("<Down>", onBtnDownHand)
screen.bind("<Left>", onBtnLeftHand)
screen.bind("<Right>", onBtnRightHand)
screen.bind("<a>", onBtnAHand)
screen.bind("<r>", onBtnRHand)
screen.bind("<g>", onBtnGHand)
screen.bind("<o>", onBtnOHand)
def simLoop(self):
self.drone.refreshPos()
#self.drone2.refreshHeight()
if self.control.switch == 1:
self.control.run()
#self.control2.load(self.control2.goto, [self.drone.height])
#self.control2.run()
self.canvas.coords(self.drone_ui, self.drone.pos.coords[0]+40, self.HEIGHT-self.drone.pos.coords[1], self.drone.pos.coords[0]+50, self.HEIGHT-10-self.drone.pos.coords[1])
#self.canvas.coords(self.drone2_ui, 100, self.HEIGHT-self.drone2.height, 110, self.HEIGHT-10-self.drone2.height)
self.infos.texts.setUiTexts()
#self.infos2.texts.setUiTexts()
self.after(int(1000*self.dt), self.simLoop)
[16.095992229752056, [1.9969525844055631, 1.8381537599239324, 0.14317915448451723]]
[4.381782581030109, [2.007821556163127, 0.27615086577017367, 0.44609716664311955]]
[0, [1.2265485343557876, 1.9855714793925145, 0.033788504112233]]
"""
from Vector import *
from Drone import *
from Control import *
drone = Drone(0.05)
control = Control(drone)
control.load(control.stay, Vector( 0,50))
control.run()
drone.refreshPos()
control.setP([1.2265485343557876, 1.9855714793925145, 0.120788504112233])
droneRoute = []
time = 0
while (abs(control.error.len()) > 1 or abs(control.derror.len()) > 1 or abs(drone.speed.len()) > 1) and time < 2000:
"""while program is not empty -> convergence"""
droneRoute.append(drone.pos.get())
control.run()
drone.refreshPos()
time += 1
import matplotlib.pyplot as plt
x_ax = []
y_ax = []