def step(self):
"""
Called repeatedly by the simulation.
Advances the physical model by a single step.
If pendulum is out of bounds
create a new brain and reset the simulation.
If fitness has reached target value.
save brain and stop the simulation
"""
out = [0, 0, 0]
keyinput = gui.get_pressed()
if keyinput[gui.keys.K_UP]:
out[0] = 1.0
if keyinput[gui.keys.K_LEFT]:
out[1] = 1.0
if keyinput[gui.keys.K_RIGHT]:
out[2] = 1.0
self.ip.step(out, self.dt)
# print self.out
if reap(self.ip):
init_pod(self.ip)
def step(self):
"""
Called repeatedly by the simulation.
Advances the physical model by a single step.
If pendulum is out of bounds
create a new brain and reset the simulation.
If fitness has reached target value.
save brain and stop the simulation
"""
# --- use keypresses to determine control
force=0.0
keyinput = gui.get_pressed()
if keyinput[gui.keys.K_LEFT]:
force -= 1.0
if keyinput[gui.keys.K_RIGHT]:
force+= 1.0
# Using difference of 2 outputs for symmetry (I don't know if this is a good idea!)
self.ip.setForce(force)
self.rk.step(self.dt)
# print self.inp
if reap(self.ip):
self.rk.reset()
self.ip.reset(INITIAL_ANG)
def process(self, pod, dt):
# what happens here is up to you
# This example looks at key press to set the control
control = pods.Control()
keyinput = gui.get_pressed()
# print the sensor information
for sensor in pod.sensors:
print sensor.name, sensor.val, sensor.wall
# --- use keypresses to determine control
if keyinput[gui.keys.K_LEFT]:
control.left = .4
if keyinput[gui.keys.K_RIGHT]:
control.right = .4
if keyinput[gui.keys.K_UP]:
control.up = 1
if keyinput[gui.keys.K_DOWN]:
control.down = 1
return control
def process(self,pod,dt):
control=Control()
#print "1"
keyp = gui.get_pressed()
#print "2"
# gui.get_pressed()
#print pg
if keyp[gui.keys.K_LEFT]:
control.left=1
if keyp[gui.keys.K_RIGHT]:
control.right=1
if keyp[gui.keys.K_UP]:
control.up=1
if keyp[gui.keys.K_DOWN]:
control.down=1
#print control.left,control.right,control.up,control.down
return control
def step(self):
"""
Called repeatedly by the simulation.
Advances the physical model by a single step.
If pendulum is out of bounds
create a new brain and reset the simulation.
If fitness has reached target value.
save brain and stop the simulation
"""
out=[0,0,0]
keyinput = gui.get_pressed()
if keyinput[gui.keys.K_UP]:
out[0] = 1.0
if keyinput[gui.keys.K_LEFT]:
out[1] = 1.0
if keyinput[gui.keys.K_RIGHT]:
out[2] = 1.0
self.ip.step(out,self.dt)
# print self.out
if reap(self.ip):
init_pod(self.ip)
def process(self,pod,dt):
# what happens here is up to you
# This example looks at key press to set the control
control=pods.Control()
keyinput = gui.get_pressed()
# print the sensor information
for sensor in pod.sensors:
print sensor.name ,sensor.val, sensor.wall
# --- use keypresses to determine control
if keyinput[gui.keys.K_LEFT]:
control.left=.4
if keyinput[gui.keys.K_RIGHT]:
control.right=.4
if keyinput[gui.keys.K_UP]:
control.up=1
if keyinput[gui.keys.K_DOWN]:
control.down=1
return control
def process(self,pod,dt):
"""
what happens here is up to you
This example looks at key press to set the control
"""
control=pods.Control()
keyinput = gui.get_pressed()
# ---- Just to demonstrate what information is available to use for input to the control
if True:
# ------- This code prints out all the available information about the state of the pod
for attr, value in pod.state.__dict__.iteritems():
print str(attr)+ "="+ str(value),
print
# --- use keypresses to determine control
if keyinput[gui.keys.K_LEFT]:
control.left=.4
if keyinput[gui.keys.K_RIGHT]:
control.right=.4
if keyinput[gui.keys.K_UP]:
control.up=1
if keyinput[gui.keys.K_DOWN]:
control.down=1
if keyinput[gui.keys.K_0]:
myWorld.init_pod(pod)
return control
def process(self, pod, dt):
"""
what happens here is up to you
This example looks at key press to set the control
"""
control = pods.Control()
keyinput = gui.get_pressed()
# ---- Just to demonstrate what information is available to use for input to the control
if True:
# ------- This code prints out all the available information about the state of the pod
for attr, value in pod.state.__dict__.iteritems():
print str(attr) + "=" + str(value),
print
# --- use keypresses to determine control
if keyinput[gui.keys.K_LEFT]:
control.left = .4
if keyinput[gui.keys.K_RIGHT]:
control.right = .4
if keyinput[gui.keys.K_UP]:
control.up = 1
if keyinput[gui.keys.K_DOWN]:
control.down = 1
if keyinput[gui.keys.K_0]:
myWorld.init_pod(pod)
return control
while not gui.check_for_quit(): # loop until user hits escape
pwmRatio=0.0
tau = 0.0
#"""
#TEST CONTROLLER OPERATION:
state = robot.getState()
phiFilt = filter.compFilter(1.0/frameRate,robot)
sensors = robot.readSensors()
pwmRatio = controller.PD(state[0],state[1],phiFilt,sensors[0])
#"""
# Check for user key press
keyinput = gui.get_pressed()
if keyinput[gui.keys.K_LEFT]: # apply anticlockwise pwmRatio to wheels
tau = -0.8
if keyinput[gui.keys.K_RIGHT]: # apply clockwise pwmRatio to wheels
tau = 0.8
if keyinput[gui.keys.K_DOWN]: # reset robot
robot.setAngle(0.2*(random.random()-0.5))
'CHANGE TO INPUT VOLTAGE in PWM format'
# step the car for a single GUI frame
robot.step(pwmRatio,tau,1.0/frameRate)
# create an inverted pendulum
cart = cart.Cart()
# set the initial angle
cart.setAngle(math.pi + 0.02)
frameRate = 10 # slow down to 10 steps per second.
screen = gui.init_surface((800, 200), " CART + IP demo")
while not gui.check_for_quit(): # loop until user hits escape
force = 0.0
# check for user key press
keyinput = gui.get_pressed()
if keyinput[gui.keys.K_LEFT]: # push left
force = -1.0
if keyinput[gui.keys.K_RIGHT]: # push right
force = 1.0
# step the car for a single GUI frame
cart.step(force, 1.0 / frameRate)
################ RESET CODE ##############################
# Test for falling over
# if fallen then reset with a random angle