def run_for_plotting():
# run params
N = 200
time = 0.02
speed = 2.0 # motion distance is equal to speed (we assume time = 1)
# the controller ( P, I, D, dt )
#pid_controller = controller.PID_Controller(0.4, 0.001, 0.01, time)
# why does this work so well? pid_controller = controller.PID_Controller(0.0, 0.0, 0.01, time)
#pid_controller = controller.PID_Controller(0.2, 0.001, 0.01, time)
pid_controller = controller.PID_Controller(0.5, 0.038, 0.0108, time)
#build the track
mytrack = track.get_track_1()
line_seg_track = track.convert_to_line_segs(mytrack)
track.write_to_file(mytrack, 'generated_files/track.csv')
# create the car
mycar = model.build_default_car(time, speed)
mycar.write_to_file('generated_files/car_data.csv')
# Main program
pos_out, sense_out = model.run(N, time, pid_controller, line_seg_track, mycar, speed)
f_Pos = open('generated_files/run_output.csv','w')
for pos in pos_out:
f_Pos.write("%s\n" % (pos))
f_Pos.close()
f_Sense = open('generated_files/sense_output.csv','w')
for pos in sense_out:
f_Sense.write("%s\n" % (pos))
f_Sense.close()
def run_twiddle(): # run params N = 200 time = 0.02 speed = 2.0 # motion distance is equal to speed (we assume time = 1) pid_params = [.2,.001,.01] step_sizes = [.01,.0005,.001] mytrack = track.get_track_1() line_seg_track = track.convert_to_line_segs(mytrack) TH = TwiddleHelper(N, line_seg_track, time, speed) twiddle.do_twiddle(TH, pid_params, step_sizes, .0001)
