def __init__(self, canvas):
self.history = defaultdict(list)
# view
self.canvas = canvas
self.last_x = 400
self.rod_len = 80
self.rod_y_start = 300-20-30
rod_y_end = self.rod_y_start - self.rod_len
self.rect = canvas.create_rectangle(self.last_x-35, 300-20-30, self.last_x+35, 300-20)
self.w1 = canvas.create_oval(self.last_x-30, 300-20, self.last_x-10, 300)
self.w2 = canvas.create_oval(self.last_x+10, 300-20, self.last_x+30, 300)
self.ball = canvas.create_oval(self.last_x - 10, rod_y_end - 10,
self.last_x + 10, rod_y_end + 10
, fill="gray")
self.rod = canvas.create_line(self.last_x, self.rod_y_start,
self.last_x, rod_y_end
, width=3, fill="gray")
self.x_offset = 400
# simulation
self.x = 0.0
self.x_dot = 0.0
self.x_dot_dot = 0.0
self.theta = 0.0
self.theta_dot = 0.0
self.theta_dot_dot = 0.0
self.time_scale = 0.01
self.f = 0
# controller
self.input = {}
self.output = {"F":0}
self.controller = Reader().load_from_file("inverted_pendulum.fcl")
def __init__(self, fcl_path):
self.system = Reader().load_from_file(fcl_path)
