def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.servo = factory.create_servo()
self.sonar = factory.create_sonar()
# Add the IP-address of your computer here if you run on the robot
self.virtual_create = factory.create_virtual_create()
self.pdTheta = pd_controller.PDController(500, 40, -200, 200)
self.pidTheta = pid_controller.PIDController(200,
5,
50, [-10, 10],
[-200, 200],
is_angle=True)
self.map = lab8_map.Map("lab8_map.json")
self.base_speed = 100
self.odometry = odometry.Odometry()
self.particle_filter = ParticleFilter(
map=self.map,
virtual_create=self.virtual_create,
num_particles=100,
distance=STRAIGHT_DISTANCE,
sigma_sensor=0.1,
sigma_theta=0.05,
sigma_distance=0.01,
)
_ = self.create.sim_get_position()
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.sonar = factory.create_sonar()
self.servo = factory.create_servo()
#self.p_controller = p_controller.PController(1000, -75, 75)
self.pd_controller = pd_controller.PDController(1000, 100, -75, 75)
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.sonar = factory.create_sonar()
self.servo = factory.create_servo()
self.odometry = odometry.Odometry()
self.pdTheta = pd_controller.PDController(75, 1, -200, 200)
# self.pdTheta = pd_controller.PDController(200, 10, -75, 75)
# self.pdTheta = pd_controller.PDController(500, 100, -200, 200)
self.pidTheta = pid_controller.PIDController(75, 20, 1, -100, 100,
-100, 100)
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.sonar = factory.create_sonar()
self.servo = factory.create_servo()
self.odometry = odometry.Odometry()
self.pdTheta = pd_controller.PDController(self.theta_kp, self.theta_kd,
-200, 200)
# self.pidTheta = pid_controller.PIDController(self.theta_kp, self.theta_kd, self.theta_ki, -200, 200)
self.pidXY = pid_controller.PIDController(self.xy_kp, self.xy_kd,
self.xy_ki, -200, 200)
def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.servo = factory.create_servo()
self.sonar = factory.create_sonar()
self.arm = factory.create_kuka_lbr4p()
self.virtual_create = factory.create_virtual_create()
# self.virtual_create = factory.create_virtual_create("192.168.1.XXX")
self.odometry = odometry.Odometry()
self.mapJ = lab8_map.Map("lab8_map.json")
self.map = rrt_map.Map("configuration_space.png")
self.rrt = rrt.RRT(self.map)
self.path = []
self.is_localized = False
# TODO identify good PID controller gains
self.pd_controller = pd_controller.PDController(1000, 100, -75, 75)
self.pdWF = pid_controller.PIDController(200, 50, 0, [0, 0], [-50, 50])
self.pidTheta = pid_controller.PIDController(200,
0,
100, [-10, 10], [-50, 50],
is_angle=True)
self.pidTheta2 = pid_controller.PIDController(300,
5,
50, [-10, 10],
[-200, 200],
is_angle=True)
self.pidDistance = pid_controller.PIDController(1000,
0,
50, [0, 0],
[-200, 200],
is_angle=False)
# TODO identify good particle filter parameters
self.pf = particle_filter.ParticleFilter(self.mapJ, 1000, 0.06, 0.15,
0.2)
self.joint_angles = np.zeros(7)