for epoch in xrange(max_epoch):
"start ataxia and tDCS"
if cerebellum == True:
if epoch > start_ataxia:
ataxia = True
if epoch > start_tDCS:
tDCS == True
"reset epoch values"
bg.epoch_reset(max_step)
game.epoch_reset()
arm.epochReset(shoulder_range,elbow_range)
game.curr_position = np.array([arm.xEndEf,arm.yEndEf])
if cerebellum == True:
cb.epoch_reset()
"init netword output array"
netOut = np.ones(2) * 0.5
desiredAngles = np.ones(2) * 0.5
desiredAngles[0] = utils.changeRange(desiredAngles[0], 0.,1.,shoulder_range[0],shoulder_range[1])
desiredAngles[1] = utils.changeRange(desiredAngles[1], 0.,1., elbow_range[0],elbow_range[1])
xDesAng = arm.L1*np.cos(desiredAngles[0]) + arm.L2*np.cos(desiredAngles[0]+desiredAngles[1])
yDesAng = arm.L1*np.sin(desiredAngles[0]) + arm.L2*np.sin(desiredAngles[0]+desiredAngles[1])
