def __init__(self, framerate=10):
"""
framerate (frames per second) defines the maximum refresh rate.
update will wait to maintain this rate
"""
self.frameRate = 10 # slow down to 10 steps per second.
self.screen = gui.init_surface((800, 200), " CART +IP demo")
self.frameRate = framerate
def __init__(self,framerate=10):
"""
framerate (frames per second) defines the maximum refresh rate.
update will wait to maintain this rate
"""
self.frameRate=10 # slow down to 10 steps per second.
self.screen = gui.init_surface((800,200)," CART +IP demo" )
self.frameRate=framerate
def __init__(self, world, title, log_file=None):
#: world a World
#: agents list of agents
self.admin = Admin()
self.ticks = 0
self.slowMotionFactor = 1.0
self.world = world
w, h = (self.world.dimensions())
dim_world = (w + 20, h + 20)
self.frameskipfactor = 1
self.frameskipcount = 1
self.painter = None
self.screen = gui.init_surface(dim_world, title)
if log_file != None:
self.log_file = open(log_file, "w")
self.run_name = title
def __init__(self,world,run_name,dt):
#: world a World
#: agents list of agents
self.admin=None
self.ticks=0
self.slowMotionFactor=1.0
self.world = world
w,h=self.world.dimensions()
dim_world = (w+20,h+20)
self.frameskipfactor=1
self.frameskipcount=1
self.painter=None
self.dt=dt
self.screen = gui.init_surface(dim_world,run_name)
self.log_file=open(run_name+".log","w")
self.run_name=run_name
def __init__(self,world,title,log_file=None):
#: world a World
self.stopping=False
self.admin=Admin()
self.ticks=0
self.slowMotionFactor=1.0
self.world = world
w,h=(self.world.dimensions())
dim_world = (w+20,h+20)
self.frameskipfactor=1
self.frameskipcount=1
self.painter=None
self.screen = gui.init_surface(dim_world,title)
if log_file != None:
self.log_file=open(log_file,"w")
self.run_name=title
gui.blit(screen)
#### MAIN CODE #########################
# create an inverted pendulum
cart = cart.Cart(dt=.01)
dt = .1
# 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")
force_scale = 10.0
sizes = [2, 1]
net = brain.loadBrain()
INIT_ANG = 0.3
cart.setAngle(math.pi + INIT_ANG)
while not gui.check_for_quit(): # loop until user hits escape
# Test for falling over
# if fallen then reset with a random angle
#### MAIN CODE #########################
# create an inverted pendulum
cart=cart.Cart()
dt=.1
factory=Factory()
pool=pool.Pool(size=40,factory=factory,breed_prob=.0,seed_prob=0.1)
frameRate=10 # slow down to 10 steps per second.
screen = gui.init_surface((800,200)," CART + IP demo" )
graphics=False
best_fit=-1e32
tot_time=0.0
best_guess=None
inc=False
force_scale=10.0
sizes=[4,1]
net=None
TOTAL_TIME_MAX=10000
str2=""
str2+= "O: %5.2f " % (state[0])
str2+= "dO/dt: %5.2f " % (state[1])
str2+= "beta: %5.2f " % (state[2])
str2+= "dbeta/dt: %5.2f " % (state[3])
str2+= " pwmRatio: %5.2f " % (pwmRatio)
gui.draw_string(screen,str2,(20,10),col,16)
# Copy the screen onto the display
gui.blit(screen)
""" MAIN CODE """
#Set GUI parameters and initialize screen
frameRate = 200 #Frames per second
screen = gui.init_surface((1200,800),"IP demo" )
# Create an instance of the robot, sensor filter and controller
robot = robot.Robot()
filter = sensFilters.CompFilter(robot)
controller = controller.Controller()
# Set the robot's initial tilt angle (rad)
robot.setAngle(0.7)
while not gui.check_for_quit(): # loop until user hits escape
pwmRatio=0.0
tau = 0.0
#"""
str2 += "O: %5.2f " % (state[0])
str2 += "dO/dt: %5.2f " % (state[1])
str2 += "beta: %5.2f " % (state[2])
str2 += "dbeta/dt: %5.2f " % (state[3])
str2 += " pwmRatio: %5.2f " % (pwmRatio)
gui.draw_string(screen, str2, (20, 10), col, 16)
# Copy the screen onto the display
gui.blit(screen)
""" MAIN CODE """
#Set GUI parameters and initialize screen
frameRate = 200 #Frames per second
screen = gui.init_surface((1200, 800), "IP demo")
# Create an instance of the robot, sensor filter and controller
robot = robot.Robot()
filter = sensFilters.CompFilter(robot)
controller = controller.Controller()
# Set the robot's initial tilt angle (rad)
robot.setAngle(0.7)
while not gui.check_for_quit(): # loop until user hits escape
pwmRatio = 0.0
tau = 0.0
#"""