class Controller(object):
def __init__(self):
self.running_flag = False
self.pendulum = InvertedPendulum()
def isRunning(self):
return self.running_flag
def start(self, impulse=1, freq=0.01):
if self.running_flag:
raise Exception("Already running")
self.frequency = freq
self.running_flag = True
self.pendulum.applyforce(u=impulse)
def stop(self):
self.running_flag = False
