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)
while not gui.check_for_quit(): # loop until user hits escape
force=0.0
# check for user key press
keyinput = gui.get_pressed()
if keyinput[gui.keys.K_LEFT]: # push left
force = -1.0
if keyinput[gui.keys.K_RIGHT]: # push right
force = 1.0
# step the car for a single GUI frame
cart.step(force,1.0/frameRate)
################ RESET CODE ##############################
# Test for falling over
# if fallen then reset with a random angle
if abs(math.pi-cart.getAngle()) > math.pi/2:
cart.setAngle(math.pi+0.02*(random.random()-0.5))
############################################################
# draw the cart and display info
draw(screen,cart,force)
# slow the gui down to the given frameRate
gui.tick(frameRate)
#### MAIN CODE #########################
# create a cart + inverted pendulum
cart=cart.Cart()
# set the initial angle
cart.setAngle(math.pi+0.05)
dt=0.1 # Time step for control
gui=guisimple.Gui(10)
while not gui.check_for_quit(): # loop until user hits escape
# step the car for a single GUI frame
cart.step(force,dt)
gui.update(cart)
while not gui.check_for_quit(): # loop until user hits escape
force = 0.0
# check for user key press
keyinput = gui.get_pressed()
if keyinput[gui.keys.K_LEFT]: # push left
force = -1.0
if keyinput[gui.keys.K_RIGHT]: # push right
force = 1.0
# step the car for a single GUI frame
cart.step(force, 1.0 / frameRate)
################ RESET CODE ##############################
# Test for falling over
# if fallen then reset with a random angle
if abs(math.pi - cart.getAngle()) > math.pi / 2:
cart.setAngle(math.pi + 0.02 * (random.random() - 0.5))
############################################################
# draw the cart and display info
draw(screen, cart, force)
# slow the gui down to the given frameRate
gui.tick(frameRate)