def main():
# use your own robot to run a simulation!
sim = Sim2d(SIM, ROBOT) # create a simulator according to specification
patch_robot(sim)
robot = Robot()
# choose from one of the robot's algorithms:
# sim.update = robot.simple_algorithm
# sim.update = robot.p_algorithm
# sim.update = robot.pd_algorithm
sim.update = robot.pid_algorithm(SIM['velocity'], ROBOT['PID'])
sim.run()
def run_laptime(params):
"""build a robot from parameters and run simulation, optimize for laptime."""
# robot specification
# positions are relative to the upper left corner
ROBOT = {
"ls": [(int(params[0] / 2.0), 3)],
"ls_radius": 3,
"lwheel": (0, int(params[1]) + 3),
"rwheel": (int(params[0]), int(params[1]) + 3),
"tire": 56, # tire diameter in mm
}
sim = Sim2d(SIM, ROBOT) # create a simulator according to specification
patch_robot(sim)
robot = Robot()
sim.update = robot.pid_algorithm(SIM["velocity"], params[2:]) # PID parameters are used in algorithm
lap = sim.measure_laptime(20.0)
print "[A,L,P,I,D]: %s, laptime: %03.3f" % (params, lap)
return lap
