def __init__(self, in_sim=True):
BaseController.__init__(self, "Minimal controller for autonomy")
self.in_sim = in_sim
# 5 kg f ~ 50 N
# https://bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-thruster/
self.f_max = 50
self.boat_mass = 5
self.boat_width = 0.5
self.a_max = 2 * self.f_max / self.boat_mass
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass *
self.boat_width)
print(f"A MAX: {self.a_max}")
print(f"ALPHA MAX: {self.max_alpha_mag}")
self.accelerated = 50
self.running_error = 0
self.i_constant = 5e-6
self.last_dist = None
self.accumulator = 0
self.a_constant = 5e-6
self.a_rate = 50
self.curr_waypoint = 0
self.last_accel = None
self.last_alpha = None
def __init__(self, in_sim=True, print_info=True):
BaseController.__init__(self, "slsqp", in_sim)
self.in_sim = in_sim
self.f_max = 50
self.boat_mass = 5
self.boat_width = 0.5
self.a_max = 2 * self.f_max / (self.boat_mass)
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass *
self.boat_width)
self.curr_waypoint = 0
self.print_info = print_info
self.last_a = 0
self.last_alpha = 0
self.last_dist = None
self.accumulator = 0
self.a_rate = 50
self.a_constant = 5e-6
self.vel_penalty = 7.5e-4
self.ang_vel_penalty = 7.5e-4
self.last_state = None
def __init__(self, window: pyglet.window.Window, scene: Scene):
BaseController.__init__(self, window, scene)
self._objects = Objects(self._scene)
self._paused = False
self.game_over = False
self._draw_grid()
self._draw_boundaries()
def __init__(self):
BaseController.__init__(self,
"Complementary Filter Test",
handle_quit=False)
self.filt = ComplementaryFilter(0.99)
self.lastGyro = 0
self.lastMag = 0
self.lastPub = 0
def __init__(self, in_sim=True):
BaseController.__init__(self, "Minimal controller for autonomy")
self.in_sim = in_sim
# 5 kg f ~ 50 N
# https://bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-thruster/
self.f_max = 50
self.boat_mass = 5
self.boat_width = 1
self.a_max = 2 * self.f_max / self.boat_mass
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass * self.boat_width)
self.accelerated = 50
self.running_error = 0
self.i_constant = 5e-6
self.curr_waypoint = 0
self.df = pd.DataFrame(columns="theta_i, ang_vel, x_targ, x_curr, y_targ, y_curr, v_i, v_cx, v_cy, accel_init, alpha_init, accel_solved, alpha_solved".split(', '))
def __init__(self, in_sim=True, print_info=True):
BaseController.__init__(self, "minimal", in_sim)
self.in_sim = in_sim
# 5 kg f ~ 50 N
# https://bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-thruster/
self.f_max = 50
self.boat_mass = 5
self.boat_width = 1
self.a_max = 2 * self.f_max / self.boat_mass
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass *
self.boat_width)
self.accelerated = 50
self.running_error = 0
self.i_constant = 4e-6
self.curr_waypoint = 0
self.print_info = print_info
def __init__(self, in_sim=True, print_info=True):
BaseController.__init__(self, "voronoi_planning")
self.in_sim = in_sim
self.f_max = 50
self.boat_mass = 5
self.boat_width = 0.5
self.a_max = 2 * self.f_max / (self.boat_mass)
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass *
self.boat_width)
self.curr_waypoint = 0
self.print_info = print_info
self.p_scale = np.array([0.25, 0, 1.5]).reshape(3, 1)
self.path = []
self.voronoi_graph = None
def __init__(self, in_sim=True, print_info=True):
BaseController.__init__(self, "d star planning", handle_quit=False)
self.in_sim = in_sim
self.f_max = 50
self.boat_mass = 5
self.boat_width = 0.5
self.a_max = 2 * self.f_max / (self.boat_mass)
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass *
self.boat_width)
self.curr_waypoint = 0
self.goal_state = None
self.rhs_vals = {}
self.g_vals = {}
self.c_vals = {}
self.intialized = False
def __init__(self, in_sim=True, print_info=True):
BaseController.__init__(self, "planning", handle_quit=False)
self.in_sim = in_sim
self.f_max = 50
self.boat_mass = 5
self.boat_width = 0.5
self.a_max = 2 * self.f_max / (self.boat_mass)
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass *
self.boat_width)
self.curr_waypoint = 0
self.print_info = print_info
self.p_scale = np.array([1.5, 0, 1.5]).reshape(3, 1)
self.grid_size = 1
# lng and lat of start pos
self.start_lon = None
self.start_lat = None
# currently planned path
self.path = []
self.max_evals = 200
# do we need to redraw the path
self.replot = False
self.subgoal_idx = 0
# the last subgoal we were working towards
self.last_subgoal_idx = 0
# how far to keep away from obstacles
self.clearance = 2 * BOAT_HEIGHT
def __init__(self, in_sim=True, print_info=True):
BaseController.__init__(self, "pid", handle_quit=False)
self.in_sim = in_sim
self.f_max = 50
self.boat_mass = 5
self.boat_width = 0.5
self.a_max = 2 * self.f_max / (self.boat_mass)
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass *
self.boat_width)
self.curr_waypoint = 0
self.p_scale = np.array([1, 0, 1]).reshape(3, 1)
self.i_scale = np.array([5e-5, 0, 5e-5]).reshape(3, 1)
self.last_dist = None
self.last_angle = None
self.running_dist_err = 0
self.running_angle_err = 0
self.print_info = print_info
def __init__(self, in_sim=True, print_info=True):
BaseController.__init__(self, "planning")
self.in_sim = in_sim
self.f_max = 50
self.boat_mass = 5
self.boat_width = 0.5
self.a_max = 2 * self.f_max / (self.boat_mass)
self.max_alpha_mag = 6 * self.f_max / (self.boat_mass *
self.boat_width)
self.curr_waypoint = 0
self.print_info = print_info
self.start_x = None
self.start_y = None
self.path = None
self.cmd_idx = 0
self.cmd_start_t = 0
self.delta_t = 1
def __init__(self, in_sim=True):
BaseController.__init__(self, "Keyboard Controller", handle_quit=False)
self.curr_waypoint = 0
self.in_sim = in_sim
def __init__(self):
BaseController.__init__(self, "Empty Autonomy Controller")
def __init__(self, in_sim=True):
BaseController.__init__(self, "SETest", handle_quit=False)
self.curr_waypoint = 0
self.in_sim = in_sim
self.complementary_filter = ComplementaryFilter(new_reading_weight=0.9)