class state_finder:
def __init__(self):
self.my_heli = Helicopter()
self.my_contr = Controller()
self.ENV_ID = "CustomEnv-v0"
# ENV_ID = "CartPole-v0"
self.env = gym.make(self.ENV_ID)
self.env.current_states = self.env.reset()
def get_action(self,
current_states,
sl_action=[1, 10, 10, 5, 5, 1, 1, 2, 2, 1, 1, 1, 1]):
action = self.my_contr.Controller_model(current_states,
self.env.dt * self.env.counter,
sl_action)
return action
# pid_ped = PID(-1, -1, -0.5, setpoint=0)
for i in range((len(k_bin))):
for j in range((len(i_bin))):
kk = k_bin[i]
ii = i_bin[j]
# pid_lon = PID(kk, ii, 0, setpoint=-1.08e-01)
pid_lon = PID(0.2, 0.2, 0.01, setpoint=0) # controls q, theta
print(kk, ii)
my_env.current_states = my_env.reset()
done = False
while not done:
# Yd, Ydotd, Ydotdotd, Y, Ydot = my_contr.Yposition(my_env.dt * my_env.counter, my_env.current_states)
# ctrl = [float(deltacol), float(deltalat), float(deltalon), float(deltaped)]
sl_ctrl = my_contr.Controller_model(my_env.current_states,
my_env.dt * my_env.counter,
action=sl_action)
# print('slaction ', ['%.2e' % elem for elem in sl_ctrl])
# sl_ctrl[0] = float(pid_col(Y[2]))
# sl_ctrl[1] = float(pid_lat(Y[1]))
# sl_ctrl[2] = float(pid_lon(my_env.current_states[7]))
# sl_ctrl[2] = float(pid_lon(Y[0]))
# sl_ctrl[3] = float(pid_ped(Y[3]))
# print('upaction ', ['%.2e' % elem for elem in sl_ctrl])
states, b, done, _ = my_env.step(sl_ctrl)
# constant_dict = {
# "u": 1.,
# "v": 1.,
# "w": 1.,
# "p": 1.,
# "q": 0.,