class FixedPointSimulatorApp(Tk):
def __init__(self):
Tk.__init__(self)
self.title('Fixed-Point Gibbot Simulator')
self.controller = controllerTypes[0]()
self.bot = defaultBot
self.timeScale = TIME_SCALE
self.t = 0 # elapsed simulation time
self.inputFrame = FixedPointInputFrame(self, controllerTypes, TIME_SCALE, defaultBot, self.restart)
self.inputFrame.grid(row=0, column=0, sticky=N+W)
self.gibbotFrame = FixedPointGibbotFrame(self)
self.gibbotFrame.grid(row=0, column=1, sticky=N+S+E+W)
self.rowconfigure(0, weight=1)
self.columnconfigure(1, weight=1)
self.startTime = time.time()
self.animate()
def animate(self):
self.animating = True
frameStartTime = time.time()
# update UI
self.inputFrame.update(self.bot, self.t)
self.gibbotFrame.update(self.bot)
# advance physics
while self.t / self.timeScale < frameStartTime - self.startTime:
controlTorque = self.controller.control(self.bot)
beforeQ1 = self.bot.q1
self.bot.advanceState(controlTorque, DT)
if abs(beforeQ1 - self.bot.q1) > 4:
print '*** flipped at time', self.t, '***'
self.animating = False
return
self.t += DT
# schedule next frame
self.after(1, self.animate)
def restart(self, controllerType, timeScale, bot):
print '** RESTART **'
self.controller = controllerType()
self.timeScale = timeScale
self.bot = bot
self.t = 0
self.startTime = time.time()
if not self.animating:
self.animate()
class FixedPointSimulatorApp(Tk):
def __init__(self):
Tk.__init__(self)
self.title('Fixed-Point Gibbot Simulator')
self.controller = controllerTypes[0]()
self.bot = defaultBot
self.timeScale = 1
self.t = 0
self.inputFrame = FixedPointInputFrame(self, controllerTypes, TIME_SCALE, defaultBot, self.restart)
self.inputFrame.grid(row=0, column=0, sticky=N+W)
self.gibbotFrame = FixedPointGibbotFrame(self)
self.gibbotFrame.grid(row=0, column=1, sticky=N+S+E+W)
self.rowconfigure(0, weight=1)
self.columnconfigure(1, weight=1)
self.animate()
def animate(self):
frameStartTime = time.time()
frameInterval = 1.0/FPS
# update UI
self.inputFrame.update(self.bot, self.t)
self.gibbotFrame.update(self.bot)
# advance physics
simulationInterval = frameInterval * self.timeScale
simulationTicks = int(simulationInterval / DT)
for i in xrange(0, simulationTicks):
controlTorque = self.controller.control(self.bot)
self.bot.advanceState(controlTorque, DT)
self.t += simulationInterval
# schedule next frame
waitTime = frameStartTime + frameInterval - time.time()
millis = int(waitTime * 1000)
if millis < 1:
millis = 1
self.after(millis, self.animate)
def restart(self, controllerType, timeScale, bot):
print '** RESTART **'
self.controller = controllerType()
self.timeScale = timeScale
self.bot = bot
self.t = 0