def reset(self):
self.elev1 = elev.elevator(self.maxfloor)
self.elev2 = elev.elevator(self.maxfloor)
for i in range(self.maxfloor - 1):
self.upbtn[i] = False
self.downbtn[i] = False
for i in range(self.maxfloor):
self.waitpeo[i] = []
self.finishtime = []
self.passenger_list.reset()
return self._step(0, 0)[0]
def main():
lift = elevator.elevator("Ascensor")
try:
state_machine(lift)
finally:
print("Destroy")
lift.destroy()
def test_rand(self):
from random import randrange
def solution(left, right, call):
return "left" if abs(call - left) < abs(call - right) else "right"
for _ in range(100):
left, right, call = randrange(0, 3), randrange(0, 3), randrange(0, 3)
print("Testing for: left = %d, right = %d, call = %d" % (left, right, call))
self.assertEqual(elevator(left, right, call), solution(left, right, call))
def test_when_passenger_arrives_should_transport_it(self):
with mock.patch("elevator.transport") as transport:
chan = csp.Channel()
proc = elevator.elevator(chan)
proc.start()
chan.write("Francisco")
chan.poison()
transport.assert_called_with("Francisco")
def test_elevator_runs_in_a_loop(self):
with mock.patch("elevator.transport") as transport:
chan = csp.Channel()
proc = elevator.elevator(chan)
proc.start()
chan.write("Francisco")
chan.write("Chico")
chan.write("Xikin")
chan.poison()
self.assertEqual(3, transport.call_count)
def __init__(self,
filename=None,
oddeven=False,
maxFloor=10,
num=0,
freq=60,
appnum=12):
self.maxfloor = maxFloor #B1~9F
self.elev1 = elev.elevator(self.maxfloor)
self.elev2 = elev.elevator(self.maxfloor)
self.upbtn = [False] * (self.maxfloor - 1)
self.downbtn = [False] * (self.maxfloor - 1)
self.waitpeo = [[] for i in range(self.maxfloor)]
self.finishtime = []
self.passenger_list = passenger_generator(filename=filename,
oddeven=oddeven,
maxFloor=self.maxfloor,
num=num,
appear_freq=freq,
appear_max_num=appnum)
def main():
wrist = arm(0.005, "wrist", 8.0, 1.0, 134.0, 0.7, 0.71,
18730.0 * 2.0 * math.pi / 60.0,
1.0 / 3.0 * 10.0 * 0.454 * ((17.0 * 0.0254)**2), 833.33)
"""q_1 = 1.0/((math.pi / 90.0)**2)
q_2 = 1.0/((math.pi / 90.0)**2)
Q_c = numpy.matrix([[q_1, 0],
[0, q_2]])
r_1 = 1.0 / (0.1**2)
R_c = numpy.matrix([[r_1]])
A_d, B_d, Q_d, R_d = controls.c2d(numpy.asmatrix(wrist.A_c), numpy.asmatrix(wrist.B_c),0.005, Q_c, R_c)
K = controls.place(A_d, B_d, (0.9, 0.003))
L = controls.dkalman(A_d, wrist.C, Q_d, R_d)
wrist.set_K(K)
wrist.set_L(L)"""
#wrist.run_test(numpy.matrix([[0.0],[0]]), numpy.matrix([[90.0],[0.0]]), True, False, True, 400)
#wrist.run_pid_test([5.23, 0.0,0.0],numpy.matrix([[0.0],[0]]), numpy.matrix([[90.0],[0]]), True, True, 400)
#wrist.run_custom_test(numpy.matrix([[0.0],[0]]), numpy.matrix([[90.0],[0]]), max_func, True, False, True, 400)
wrist.get_stats()
elev = elevator(0.005, "elev", 4.0, 4.0, 134.0, 0.7, 0.71,
18730.0 * 2.0 * math.pi / 60.0, 40.62, 1.751 * 0.0254,
10.0 * 0.454 + 2.5) #11.59)
#elev.run_pid_test([1.2, 0.0,0.0],numpy.matrix([[0.0],[0]]), numpy.matrix([[60.0],[0]]), True, True, 400)
#elev.run_custom_test(numpy.matrix([[0.0],[0]]), numpy.matrix([[60.0],[0]]), max_func, True, False, True, 400)
elev.get_stats()
drive_gear_ratio = (60.0 / 12.0) * (34.0 / 24.0) * (34.0 / 32.0)
distribution_radius = 0.45
mass = 154.0 * 0.454
j = distribution_radius * mass
print(drive_gear_ratio)
drivetrain = drive(0.005, "drivetrain", 4.0, 3.0, 89.0, 3.0, 1.41,
5840 * 2.0 * math.pi / 60.0, drive_gear_ratio, j,
3.0 * 0.0254, 28.0 * 0.0254 * 0.5, 154.0 * 0.454)
#drivetrain.run_pid_test([1.2, 0.0,.1],numpy.matrix([[0.0],[0],[0],[0]]), numpy.matrix([[12.0],[8.0], [0.0],[0.0]]), True, True, 4000)
#drivetrain.run_custom_test(numpy.matrix([[0.0],[0],[0],[0]]), numpy.matrix([[12.0],[12.0], [0.0],[0.0]]), full_volts, True, False, True, 400)
drivetrain.get_stats()
intake = shooter(0.005, "intake", 4.0, 2.0, 134.0, 0.7, 0.71,
18730.0 * 2.0 * math.pi / 60.0, 0.5 * 0.0254**2 * 10.0,
6.67)
intake.run_pid_test([0.05, 0.07, 0.0], numpy.matrix([[0.0]]),
numpy.matrix([[2000.0]]), True, True, 400)
#intake.run_custom_test(numpy.matrix([[0.0]]), numpy.matrix([[1000]]), max_func, True, False, True, 400)
intake.get_stats()
def main():
lift = elevator.elevator("Ascensor1")
lift.set_motor("stop")
lift.set_mov_indicator("stop")
lift.set_door("close")
lift.set_light_call(2, "on")
lift.set_light_int(5, "on")
lift.set_light_int(1, "on")
lift.set_light_int(2, "on")
lift.set_light_int(3, "on")
lift.set_light_int(4, "on")
try:
state_machine(lift)
finally:
print("Destroy")
lift.destroy()
def test_fixed_tests():
assert elevator(0, 0, 0) == "right"
assert elevator(0, 0, 1) == "right"
assert elevator(0, 0, 2) == "right"
assert elevator(0, 1, 0) == "left"
assert elevator(0, 1, 1) == "right"
assert elevator(0, 1, 2) == "right"
assert elevator(0, 2, 0) == "left"
assert elevator(0, 2, 1) == "right"
assert elevator(0, 2, 2) == "right"
assert elevator(1, 0, 0) == "right"
assert elevator(1, 0, 1) == "left"
assert elevator(1, 0, 2) == "left"
assert elevator(1, 1, 0) == "right"
assert elevator(1, 1, 1) == "right"
assert elevator(1, 1, 2) == "right"
assert elevator(1, 2, 0) == "left"
assert elevator(1, 2, 1) == "left"
assert elevator(1, 2, 2) == "right"
assert elevator(2, 0, 0) == "right"
assert elevator(2, 0, 1) == "right"
assert elevator(2, 0, 2) == "left"
assert elevator(2, 1, 0) == "right"
assert elevator(2, 1, 1) == "right"
assert elevator(2, 1, 2) == "left"
assert elevator(2, 2, 0) == "right"
assert elevator(2, 2, 1) == "right"
assert elevator(2, 2, 2) == "right"
def init_elevator(building_layers): e = elevator(building_layers) t = threading.Thread(target = e.run) t.setDaemon(True) t.start() return (e,t)
return 1
else:
return 0
return getbetas
def finterest(env):
def getinterest(state):
if state in env.goal_states or state in env.elevator_states:
return args.intrst
else:
return args.intrst
return getinterest
from elevator import elevator
env = elevator(n=args.len)
betas = fbetas(env)
interest = finterest(env)
action_1_prob = 0.5
action_2_prob = 1-action_1_prob
fo_states = [(0,3), (args.len+1, 2), (args.len+1, 4), (2*args.len+2, 5), (2*args.len+2, 3), (2*args.len+2, 1)]
v_pi = {i:0.5*(1+i[1]) for i in fo_states}
weights = np.zeros_like(np.array(env.feat).reshape(-1,1))
else:
raise NotImplementedError
env.seed(args.seed)
np.random.seed(args.seed)
def getAction(args):
def test(self):
self.assertEqual(elevator(0, 1, 0), "left")
self.assertEqual(elevator(0, 1, 1), "right")
self.assertEqual(elevator(0, 1, 2), "right")
self.assertEqual(elevator(0, 0, 0), "right")
self.assertEqual(elevator(0, 2, 1), "right")
self.assertEqual(elevator(0, 0, 0), "right")
self.assertEqual(elevator(0, 0, 1), "right")
self.assertEqual(elevator(0, 0, 2), "right")
self.assertEqual(elevator(0, 1, 0), "left")
self.assertEqual(elevator(0, 1, 1), "right")
self.assertEqual(elevator(0, 1, 2), "right")
self.assertEqual(elevator(0, 2, 0), "left")
self.assertEqual(elevator(0, 2, 1), "right")
self.assertEqual(elevator(0, 2, 2), "right")
self.assertEqual(elevator(1, 0, 0), "right")
self.assertEqual(elevator(1, 0, 1), "left")
self.assertEqual(elevator(1, 0, 2), "left")
self.assertEqual(elevator(1, 1, 0), "right")
self.assertEqual(elevator(1, 1, 1), "right")
self.assertEqual(elevator(1, 1, 2), "right")
self.assertEqual(elevator(1, 2, 0), "left")
self.assertEqual(elevator(1, 2, 1), "left")
self.assertEqual(elevator(1, 2, 2), "right")
self.assertEqual(elevator(2, 0, 0), "right")
self.assertEqual(elevator(2, 0, 1), "right")
self.assertEqual(elevator(2, 0, 2), "left")
self.assertEqual(elevator(2, 1, 0), "right")
self.assertEqual(elevator(2, 1, 1), "right")
self.assertEqual(elevator(2, 1, 2), "left")
self.assertEqual(elevator(2, 2, 0), "right")
self.assertEqual(elevator(2, 2, 1), "right")
self.assertEqual(elevator(2, 2, 2), "right")
def init_elevator():
elevator_threads = [elevator(x) for x in range(1, 4)]
return elevator_threads
#creating game objects
#GAME MENU TEXT
menuLabel = text.Label("The Red Tower\n", font_name="Tulpen One", font_size=48, color=(120,0,0,255),x=0, y=window.height - 80, halign='center', width=window.width, height=12, multiline=True)
#menuLabel.set_style('align', 'center')
endLabel = text.Label("ENDING\n", font_name="Tulpen One", font_size=36, color=(255,255,255,255), width = window.width - 40, multiline=True, halign='center', x = 20, y = window.height / 2 + 100)
building = gameobject.gameobject(80.0,46.0,200,506, (255,255,255,255))
ground = gameobject.gameobject(0.0,46.0,360,2)
shaft1 = gameobject.gameobject(108.0,50.0,44,500, (230,230,230,255))
shaft2 = gameobject.gameobject(202.0,50.0,44,500, (230,230,230,255))
elev1 = elevator.elevator(110.0,50.0,40,45,(0,0,0,255))
elev2 = text.Label("OUT OF\nSERVICE\n", font_name="Tulpen One", font_size=14, color=(0,0,0,255), x=200, y=82, bold=True, halign='center', width=44, multiline=True)
floorsLabel = text.Label("9\n8\n7\n6\n5\n4\n3\n2\n1\nM", font_name="Tulpen One", font_size=34, color=(255,255,255,255), x=50, y=515, halign='center', width=20, multiline=True)
#load data from files
df = open("defaultperson.txt", "r")
lines = df.readlines()
df.close()
nf = open("names.txt", "r")
names = nf.readlines()
nf.close()
def test_sample_tests():
assert elevator(0, 1, 0) == "left"
assert elevator(0, 1, 1) == "right"
assert elevator(0, 1, 2) == "right"
assert elevator(0, 0, 0) == "right"
assert elevator(0, 2, 1) == "right"
#creating game objects
#GAME MENU TEXT
menuLabel = text.Label("The Red Tower\n", font_name="Tulpen One", font_size=48, color=(120,0,0,255),x=0, y=window.height - 80, halign='center', width=window.width, height=12, multiline=True)
#menuLabel.set_style('align', 'center')
endLabel = text.Label("ENDING\n", font_name="Tulpen One", font_size=36, color=(255,255,255,255), width = window.width - 40, multiline=True, halign='center', x = 20, y = window.height / 2 + 100)
building = gameobject.gameobject(80.0,46.0,200,506, (255,255,255,255))
ground = gameobject.gameobject(0.0,46.0,360,2)
shaft1 = gameobject.gameobject(108.0,50.0,44,500, (230,230,230,255))
shaft2 = gameobject.gameobject(202.0,50.0,44,500, (230,230,230,255))
elev1 = elevator.elevator(110.0,50.0,40,45,(92,66,36,255))
elev2 = text.Label("OUT OF\nSERVICE\n", font_name="Tulpen One", font_size=14, color=(0,0,0,255), x=200, y=82, bold=True, halign='center', width=44, multiline=True)
floorsLabel = text.Label("9\n8\n7\n6\n5\n4\n3\n2\n1\nM", font_name="Tulpen One", font_size=34, color=(255,255,255,255), x=50, y=515, halign='center', width=20, multiline=True)
#load data from files
df = open("defaultperson.txt", "r")
lines = df.readlines()
df.close()
nf = open("names.txt", "r")
names = nf.readlines()
nf.close()
endLabel = text.Label("ENDING\n",
font_name="Tulpen One",
font_size=36,
color=(255, 255, 255, 255),
width=window.width - 40,
multiline=True,
halign='center',
x=20,
y=window.height / 2 + 100)
building = gameobject.gameobject(80.0, 46.0, 200, 506, (255, 255, 255, 255))
ground = gameobject.gameobject(0.0, 46.0, 360, 2)
shaft1 = gameobject.gameobject(108.0, 50.0, 44, 500, (230, 230, 230, 255))
shaft2 = gameobject.gameobject(202.0, 50.0, 44, 500, (230, 230, 230, 255))
elev1 = elevator.elevator(110.0, 50.0, 40, 45, (0, 0, 0, 255))
elev2 = text.Label("OUT OF\nSERVICE\n",
font_name="Tulpen One",
font_size=14,
color=(0, 0, 0, 255),
x=200,
y=82,
bold=True,
halign='center',
width=44,
multiline=True)
floorsLabel = text.Label("9\n8\n7\n6\n5\n4\n3\n2\n1\nM",
font_name="Tulpen One",
font_size=34,
def main():
rod_weight = 4.0 * 0.293 * 0.453592
radius = 3.0 / 16.0 * 0.0254
pitch = 16.0/ (1 * 0.0254)
load = calculate_load_torque(40. * 4.4482, 2.0 * radius, pitch, 0.19)
test = linear_actuator(0.005, "test", 1.0, 1.0, 105.0, 1.8, 2.6, 5676 * 2.0 * math.pi / 60.0,
0.5 * rod_weight * radius * radius, 1.0, pitch, load)
#test.run_custom_test(numpy.matrix([[0.0],[0]]), numpy.matrix([[24.0],[0]]), max_func, True, False, True, 800)
#test.get_stats()
best_G = calculate_ideal_gear_ratio(load, 1.3)
print(best_G)
#Neo @ 1:3 overdrive running at 10 volts works best
drive_gear_ratio = 7.083 * 24.0 / 60.0 * 64.0 / 20.0;#1.13333#5.10#50.0 /34.0 2.16 ratio spread 54 : 30
j = 6.0
#2778 2000 2907 3269 3211 3099 3287 3573 2705
#drivetrain = drive(0.005, "drivetrain", 4.0, 2.0, 131.0, 2.7, 2.41, 5330 * 2.0 * math.pi / 60.0,
# drive_gear_ratio, j, 3.0 * 0.0254, 28.0 * 0.0254 * 0.5, 154.0 * 0.454)
#radius base might be 25.5 * 0.0254 * 0.5, but not likely, more like 0.45
drivetrain = drive(0.005, "drivetrain", 3.0, 2.0, 131.0, 2.7, 2.41, 5330 * 2.0 * math.pi / 60.0,
drive_gear_ratio, j, 3.0 * 0.0254, 25.5 * 0.0254 * 0.5 , (125.0) * 0.454)
#drivetrain.run_pid_test([1.0, 0.0,0],numpy.matrix([[0.0],[0],[0],[0]]), numpy.matrix([[55.0],[55.0], [0.0],[0.0]]), True, True, 4000)
#drivetrain.run_custom_test(numpy.matrix([[0.0],[0],[0],[0]]), numpy.matrix([[12.0],[12.0], [0.0],[0.0]]), full_volts, True, False, True, 2000)
drivetrain.get_stats(True)
driveQ_c = numpy.matrix([[1.0 / (0.14)**2.0 , 0, 0, 0],
[0, 1.0 / (0.14)**2.0, 0, 0],
[0, 0, 1.0 / (1.0)**2.0, 0],
[0, 0, 0, 1.0 / (1.0)**2.0]])
driveR_c = numpy.matrix([[0.0001**2, 0.0],
[0.0, 0.0001 **2]])
# [0 , 1.0 / (.1 * 0.0254)**2]])
driveA_d, driveB_d, driveQ_d, driveR_d = controls.c2d(drivetrain.A_c, drivetrain.B_c, 0.005, driveQ_c, driveR_c)
driveK = controls.dlqr(driveA_d, driveB_d, driveQ_d, driveR_d)
print(driveK)
elev = elevator(0.005, "elev", 2.0, 2.0, 134.0, 0.7, 0.71, 18730.0 * 2.0 * math.pi / 60.0,
63.0, 3.0 * (0.8755 - 0.16) * 0.0254, 18.8* 0.454)#11.59)
#elev.export("../python")
elevQ_c = numpy.matrix([[1.0 / (0.0254 * 0.01)**2.0 , 0],
[0 , 1.0 / (.1 * 0.0254)**2]])
elevR_c = numpy.matrix([[1.0 / 13.0**2]])
elevA_d, elevB_d, elevQ_d, elevR_d = controls.c2d(elev.A_c, elev.B_c, 0.005, elevQ_c, elevR_c)
elevK = controls.dlqr(elevA_d, elevB_d, elevQ_d, elevR_d)
elevL = controls.dkalman(elevA_d, elevB_d, elevQ_d, elevR_d)
#print(elevK)
elev.run_test([[0.],[0.]],[[0.0],[60.0]])
endLabel = text.Label("ENDING\n",
font_name="Tulpen One",
font_size=36,
color=(255, 255, 255, 255),
width=window.width - 40,
multiline=True,
halign='center',
x=20,
y=window.height / 2 + 100)
building = gameobject.gameobject(80.0, 46.0, 200, 506, (255, 255, 255, 255))
ground = gameobject.gameobject(0.0, 46.0, 360, 2)
shaft1 = gameobject.gameobject(108.0, 50.0, 44, 500, (230, 230, 230, 255))
shaft2 = gameobject.gameobject(202.0, 50.0, 44, 500, (230, 230, 230, 255))
elev1 = elevator.elevator(110.0, 50.0, 40, 45, (92, 66, 36, 255))
elev2 = text.Label("OUT OF\nSERVICE\n",
font_name="Tulpen One",
font_size=14,
color=(0, 0, 0, 255),
x=200,
y=82,
bold=True,
halign='center',
width=44,
multiline=True)
floorsLabel = text.Label("9\n8\n7\n6\n5\n4\n3\n2\n1\nM",
font_name="Tulpen One",
font_size=34,
