MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
'''
import nengo
import numpy as np
import Arm; reload(Arm)
run_in_GUI = True
# set the initial position of the arm
arm = Arm.Arm2Link(dt=1e-3)
arm.reset(q=[np.pi/5.5, np.pi/1.7], dq=[0, 0])
"""Generate the Nengo model that will control the arm."""
model = nengo.Network()
with model:
# create input nodes
def arm_func(t, x):
u = x[:2]
arm.apply_torque(u)
data = np.hstack([arm.q0, arm.q1, arm.dq0, arm.dq1, arm.x]) # data returned from node to model
# visualization code -----------------------------------------------------
scale = 15
