def main():
#neuralNet = NeuralNetwork()
pendulum = InvertedPendulum()
for n in np.arange(-0.5, 10, 0.5):
cart, theta = pendulum.applyforce(u=n, tmax=2.5, timeslice=0.01)
x, y = transform(theta)
showGraph(x, y, cart, 0.01, "Relative motion of cart and pendulum u={0}".format(n))
class Controller (object):
def __init__(self):
self.running_flag = False
self.pendulum = InvertedPendulum()
def isRunning(self):
return self.running_flag
def start(self, impulse=1, freq=0.01):
if self.running_flag: raise Exception('Already running')
self.frequency = freq
self.running_flag = True
self.pendulum.applyforce(u=impulse)
def stop(self):
self.running_flag = False
