force_scale = 10.0
sizes = [2, 1]
net = brain.loadBrain()
INIT_ANG = 0.3
cart.setAngle(math.pi + INIT_ANG)
while not gui.check_for_quit(): # loop until user hits escape
# Test for falling over
# if fallen then reset with a random angle
input = copy.deepcopy(cart.getState())
input[0] = input[0] - math.pi
out = net.ffwd(input)
force = (out[0] - 0.5) * force_scale
# step the car for a single GUI frame
cart.step(force, dt)
# draw the cart and display info
draw(screen, cart, force)
# slow the gui down to the given frameRate
gui.tick(frameRate)
import cart
import math
# create an inverted pendulum
cart=cart.Cart()
PI=math.pi
# reset and set the initial angle just off verticle
cart.setAngle(PI-0.1)
force=0 # Force applied to cart
dt=0.1 # Time step for control
while True:
cart.step(force,dt)
state=cart.getState()
print "phi= ",state[0], " dphi/dt=",state[1]," x=",state[2]," dx/dt=",state[3]
# If we fall over exit
if state[0] < PI*0.5 or state[0] > PI*1.5:
break
print pool
if fit > plug.GOAL or tot_time > TOTAL_TIME_MAX:
print " SUCCESS ---------------------------------------------------------------------- "
brain.saveBrain(net)
break
cart.setAngle(math.pi+plug.INIT_ANG)
guess=pool.create()
net.setWeights(guess)
time=0;
input = copy.deepcopy(cart.getState())
input[0]=input[0]-math.pi
out=net.ffwd(input)
force=(out[0]-0.5)*force_scale
# step the car for a single GUI frame
cart.step(force,dt)
time+=dt
tot_time+=dt
fit=time-cart.getX()
################ RESET CODE ##############################
import cart
import math
# create an inverted pendulum
cart = cart.Cart()
PI = math.pi
# reset and set the initial angle just off verticle
cart.setAngle(PI - 0.1)
force = 0 # Force applied to cart
dt = 0.1 # Time step for control
while True:
cart.step(force, dt)
state = cart.getState()
print "phi= ", state[0], " dphi/dt=", state[1], " x=", state[
2], " dx/dt=", state[3]
# If we fall over exit
if state[0] < PI * 0.5 or state[0] > PI * 1.5:
break