def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.servo = factory.create_servo()
self.sonar = factory.create_sonar()
self.p_controller = PController(k_p=500.0)
self.pd_controller = PDController(k_p=500.0, k_d=50.0)
def __init__(self, filename):
# check if we are running in screen. If not, terminate
# this command will fail if the program is executed outside of screen
try:
subprocess.check_output(['pgrep', '-f', 'screen'])
except subprocess.CalledProcessError:
raise RuntimeError(
"Program is not running in screen. Aborting. Please restart in screen."
)
# initialize P controller
self.p_ctrl = PController(filename)
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.sonar = factory.create_sonar()
self.servo = factory.create_servo()
# define the gains here
self.kp = 1000
self.kd = 3
self.minOutput = -200
self.maxOutput = 200
# instantiate your controllers here
self.p_controller = PController(self.kp, self.minOutput,
self.maxOutput)
self.pd_controller = PDController(self.kp, self.kd, self.minOutput,
self.maxOutput)