from src import ui, Simulator
WANT_UI = True
if __name__ == "__main__":
if WANT_UI:
ui()
else:
sim = Simulator()
sim.run()
if __name__ == "__main__":
# Import model
model = InvertedPendulum()
# Set initial state [m, m/s, rad, rad/s]
model.set_state(np.mat([[-0.3], [0.0], [0.1], [0.0]]))
# Define controller
controller = Control(model)
# Set desired cart position (m)
controller.set_desired_position(0.3)
# Simulator
sim = Simulator(model, controller)
t, state_list = sim.simulate()
# Plot data
plt.figure()
plt.subplot(2, 2, 1)
plt.plot(t, state_list[:, 0])
plt.xlabel("Time (s)")
plt.ylabel("x (m)")
plt.title("Cart position")
plt.grid()
plt.subplot(2, 2, 2)
plt.plot(t, state_list[:, 1])
plt.xlabel("Time (s)")
plt.ylabel("xdot (m/s)")
plt.title("Cart velocity")