def __init__(self):
self.interface = controller.Car_Interface()
self.pedal = None
self.amount = 0
self.TIME_UNIT = self.interface.dt
self.img = PIL.Image.open("car.png")
def __init__(self):
self.interface = controller.Car_Interface()
self.pedal_type = None
self.amount = 0.0
self.TIME_UNIT = self.interface.dt
def __init__(self, mode, car_model="simple"):
self.mode = mode
self.car_model = car_model
'''
Initialize the interface that will be used to manage motion dynamics.
'''
self.interface = controller.Car_Interface(car_model)
'''
If we are testing system ID then we will initialize an instance of the
controller model, which we will interact with side by side along with
the actual interface.
'''
if (self.mode == "sysID_testing"):
self.interface_model = controller_model.Car_Interface(car_model)
'''
pedal_type intitialized to None
peda_type can later be "accelerate", "brake", or "release"
amount is relevant for both "accelerate" and "brake" and
represents the magnitude of pedal depression.
TIME_UNIT is a constant and represents how often we update
the car's state.
'''
self.pedal_type = None
self.amount = 0.0
self.TIME_UNIT = self.interface.dt
'''
Build up is used to allow for increasing pedal depression
the longer you hold a control. That is when you press as
you hold "accelerate" or "brake" the pedal depression will
increase from 0 to 1 over time.
When we are doing SystemID we will not follow the build up
principle and apply random depression quantities, to make sure
we are covering all possible scenarios.
'''
if (not (self.mode == "sysID_data" or self.mode == "sysID_testing")):
self.build_up = 0
self.bu_to_amt = lambda: 1 - 1 / ((self.build_up / 20) + 1)
'''
If we are collecting data for System ID we intialize a file path for
where we will save the data points (including reference to the internal
car model).
If there is a preexisting data points file we will load it
and add to it, as opposed to starting from scratch.
We will also keep track how long ago we last saved the collected data.
'''
if (self.mode == "sysID_data"):
self.data_points_file_path = f"Car Interface Weeks 2-3/SystemID/{car_model}_data_points.json"
if (os.path.exists(self.data_points_file_path)):
self.data_points = json.load(
open(self.data_points_file_path, "r"))
else:
self.data_points = []
self.saved_data = 0
'''
If we are testing System ID we will keep track of a rolling average of
the discrepancy between the actual controller and the controller model.
The average will be taken over the last ERROR_WINDOW times. The maximum
average error will be tracked as well.
'''
if (self.mode == "sysID_testing"):
self.ERROR_WINDOW = 100
self.errors = []
self.max_mean_error = None