def fill_cells_random():
scope=m3t.M3Scope2(xwidth=100,yrange=None)
ns=30#5#K*2
#Build desired vector
log={'ns':ns,'type':'fill_cells_random',
'actuator':'MA12J1','L':L,'K':K,'CW':cw,'a':list(a),'b':list(b),'u_max':u_max,'u_min':u_min,'ut':[],'wt':[],'gt':[],'des':[]}
des=[u_min]
for nn in range(ns):
while True:
x=u_min+(u_max-u_min)*(random.random()) #randomly in range
if abs(des[-1]-x)>5*cw: #make excursion at least 5 cells
des.append(x)
break
log['des']=des
print 'Des',des
print 'Enable power. Hit enter to continue'
raw_input()
for ii in range(len(des)):
print ii,'Des: ',des[ii]
uu,ww,gg=ramp_to_torque(des[ii],scope)
print len(uu),len(ww),len(gg)
log['ut'].append(list(uu)) #input
log['wt'].append(list(ww)) #output
log['gt'].append(list(gg)) #hysteron states
print 'Save data [y]?'
if m3t.get_yes_no('y'):
fn=m3t.get_m3_config_path()+'data/preisach_data_random_ma12j1_'+m3t.time_string()+'.yml'
print 'Enter annotation string [None]'
note=m3t.get_string('None')
log['note']=note
f=file(fn,'w')
print 'Saving...',fn
f.write(yaml.safe_dump(log, default_flow_style=False,width=200))
f.close()
return log
def run(self):
vias = {}
for c in self.chains:
vias[c] = []
while not self.done:
print '--------------'
print 'r: record via'
print 's: save via file'
print 'p: print current pose'
print 'q: quit'
print '--------------'
print
k = m3t.get_keystroke()
print 'Dbg', dbg
if k == 'r':
print '-------------'
for c in self.chains:
vias[c].append(m3t.float_list(self.bot.get_theta_deg(c)))
print 'Record of: ', vias[c][-1], 'for', c
if k == 'p':
print '----------------'
for c in self.chains:
print 'Chain:', c, ' : ', self.bot.get_theta_deg(c)
print '----------------'
if k == 's':
bot_name = m3t.get_robot_name()
fn = bot_name + '_' + m3t.time_string()
print 'Enter via file name [', fn, ']'
fn = m3t.get_string(fn)
fn = m3t.get_m3_animation_path() + fn + '.via'
print 'Writing file: ', fn
f = file(fn, 'w')
d = {}
for c in self.chains:
ndof = self.bot.get_num_dof(c)
if c == 'torso':
param = {
'slew': [1.0] * ndof,
'stiffness': [0.8] * ndof,
'velocity': [25.0, 15.0]
}
else:
param = {
'slew': [1.0] * ndof,
'stiffness': [0.4] * ndof,
'velocity': [25.0] * ndof
}
d[c] = {
'postures': vias[c],
'param': param
} #safe defaults
f.write(yaml.safe_dump(d))
vias = {}
for c in self.chains:
vias[c] = []
if k == 'q':
self.done = True
def fill_cells_random():
scope = m3t.M3Scope2(xwidth=100, yrange=None)
ns = 30 #5#K*2
#Build desired vector
log = {
'ns': ns,
'type': 'fill_cells_random',
'actuator': 'MA12J1',
'L': L,
'K': K,
'CW': cw,
'a': list(a),
'b': list(b),
'u_max': u_max,
'u_min': u_min,
'ut': [],
'wt': [],
'gt': [],
'des': []
}
des = [u_min]
for nn in range(ns):
while True:
x = u_min + (u_max - u_min) * (random.random()) #randomly in range
if abs(des[-1] - x) > 5 * cw: #make excursion at least 5 cells
des.append(x)
break
log['des'] = des
print 'Des', des
print 'Enable power. Hit enter to continue'
raw_input()
for ii in range(len(des)):
print ii, 'Des: ', des[ii]
uu, ww, gg = ramp_to_torque(des[ii], scope)
print len(uu), len(ww), len(gg)
log['ut'].append(list(uu)) #input
log['wt'].append(list(ww)) #output
log['gt'].append(list(gg)) #hysteron states
print 'Save data [y]?'
if m3t.get_yes_no('y'):
fn = m3t.get_m3_config_path(
) + 'data/preisach_data_random_ma12j1_' + m3t.time_string() + '.yml'
print 'Enter annotation string [None]'
note = m3t.get_string('None')
log['note'] = note
f = file(fn, 'w')
print 'Saving...', fn
f.write(yaml.safe_dump(log, default_flow_style=False, width=200))
f.close()
return log
def run(self):
vias = {}
for c in self.chains:
vias[c] = []
while not self.done:
print "--------------"
print "r: record via"
print "s: save via file"
print "p: print current pose"
print "q: quit"
print "--------------"
print
k = m3t.get_keystroke()
print "Dbg", dbg
if k == "r":
print "-------------"
for c in self.chains:
vias[c].append(m3t.float_list(self.bot.get_theta_deg(c)))
print "Record of: ", vias[c][-1], "for", c
if k == "p":
print "----------------"
for c in self.chains:
print "Chain:", c, " : ", self.bot.get_theta_deg(c)
print "----------------"
if k == "s":
bot_name = m3t.get_robot_name()
fn = bot_name + "_" + m3t.time_string()
print "Enter via file name [", fn, "]"
fn = m3t.get_string(fn)
fn = m3t.get_m3_animation_path() + fn + ".via"
print "Writing file: ", fn
f = file(fn, "w")
d = {}
for c in self.chains:
ndof = self.bot.get_num_dof(c)
if c == "torso":
param = {"slew": [1.0] * ndof, "stiffness": [0.8] * ndof, "velocity": [25.0, 15.0]}
else:
param = {"slew": [1.0] * ndof, "stiffness": [0.4] * ndof, "velocity": [25.0] * ndof}
d[c] = {"postures": vias[c], "param": param} # safe defaults
f.write(yaml.safe_dump(d))
vias = {}
for c in self.chains:
vias[c] = []
if k == "q":
self.done = True
