def pendulumTest(timeslice=0.001, tmax=100):
pendulum = InvertedPendulum()
for n in np.arange(-5, 5, 1):
states, time = pendulum.time_to_ground(u=n, tmax=tmax, timeslice=timeslice)
theta = (state.theta for state in states)
cart = (state.x for state in states)
x, y = transform(theta)
showGraph(x, y, cart, 0.001, "Cart-Pendulum System --> U={0}".format(n))
def pendulumForceTest(timeslice=0.001, tmax=100):
pendulum = InvertedPendulum()
for n in np.arange(-5, 5, 1):
states, time = pendulum.time_to_ground(u=n, tmax=tmax, timeslice=timeslice)
n=0
for state in states:
force = pendulum.get_force(state)
print('Force : {}'.format(force))
n+=1
if n > 60: break
theta = (state.theta for state in states)
cart = (state.x for state in states)
x, y = transform(theta)