def main():
arduino = Arduino()
pid_client = PidClient()
if(LOG):
timestr = time.strftime("%Y%m%d-%H%M%S")
filename = "pid_log-" + timestr + ".txt"
file = open(filename,"w+")
loglines = 0
while(True):
print("waiting for state...")
state = arduino.waitForState() # blocking
newControl = pid_client.determineControl(state)
if(LOG):
logLine = str(state) + "," + str(newControl) + "\n"
logLine = logLine.strip("[]")
file.write(logLine)
loglines += 1
if(loglines % 1000 == 0):
print("loglines: {}".format(loglines))
file.flush()
arduino.accelerateMotorPower(newControl)
def main():
if (len(sys.argv) != 2):
print("give me a model file as argument please!")
exit()
modelfile = sys.argv[1]
arduino = Arduino()
model = load_model(modelfile)
print("waiting for first state...")
obs = arduino.waitForState()
print("neat found first state!")
while (True):
obs = arduino.waitForState()
foo = np.array(obs)
bar = foo.reshape((1, -1))
action = model.predict(bar, batch_size=1)
action = action[0][0]
print(action)
arduino.updateMotorPower(action)