def test_animat_no_controller():
for n_animats in range(10):
duration = 50.0
DT = 0.02
iterations = int(np.round(duration / DT))
animat = Animat()
animat.x = np.random.randn()
animat.y = np.random.randn()
animat.a = np.random.rand() * np.pi * 2.0
obj = Obj(0, 0, 'default')
animat.add_obj(obj)
for iteration in range(iterations):
animat.calculate_derivative()
animat.euler_update(DT=DT)
left_sensor = animat.sensors['default'][Sides.LEFT]
right_sensor = animat.sensors['default'][Sides.RIGHT]
# print(f'l:{left_sensor}\t r:{right_sensor}')
# animat.lm = 0.4
# animat.rm = 0.5
animat.lm = left_sensor * 5
animat.rm = right_sensor * 5
plot(animat.x_h, animat.y_h, ',')
plot(animat.x_h[-1], animat.y_h[-1], 'ko', ms=3)
plot(-999, -999, 'k.', label='Aniamt Final Position')
plot(0, 0, ',', label='Animat Trajectory')
plot(0, 0, 'rx', label='Object Position')
xlim(-3, 3)
ylim(-3, 3)
legend()
gca().set_aspect('equal')
show()
