def __init__(self, name=None, *args, **kwargs):
super(LearningPistonController, self).__init__(*args, **kwargs)
pit_init = super(LearningPistonController, self).valveCommandFromFlow
self.clay_pit_pos = OneDClayPit(min_x=1e-6,
max_x=4.0 * gpm2cmps,
n_points=64,
init_func=pit_init,
max_slope=1.0 / (6.0 * gpm2cmps),
k=1.0,
name=name + '_pos')
self.clay_pit_neg = OneDClayPit(min_x=-4.0 * gpm2cmps,
max_x=-1e-6,
n_points=64,
init_func=pit_init,
max_slope=1.0 / (6.0 * gpm2cmps),
k=1.0,
name=name + '_neg')
self.valve_cmd = 0.0
