def __init__(self, factory): """Constructor. Args: factory (factory.FactoryCreate) """ self.create = factory.create_create() self.time = factory.create_time_helper() self.servo = factory.create_servo() self.sonar = factory.create_sonar() self.virtual_create = factory.create_virtual_create() self.odometry = odometry.Odometry() # For Simulation Testing # self.p_map = lab8_map.Map("final_map.json") # self.map = lab10_map.Map("final_map_config.png") # For Physical Testing self.p_map = lab8_map.Map("finalproject_map3.json") self.map = lab10_map.Map("finalproject_map3_config.png") self.path = lab10.Run(factory, self.map) # TODO identify good PID controller gains self.pidTheta = pid_controller.PIDController(200, 0, 100, [-10, 10], [-50, 50], is_angle=True) # TODO identify good particle filter parameters self.pf = particle_filter.ParticleFilter(self.p_map, 1000, 0.06, 0.15, 0.2) self.joint_angles = np.zeros(7)
def __init__(self): self.time = time self.locationX = 0 self.locationY = 0 self.orientation = 0 self.distance = 0 #self.probSensorGivenLoc = 0 self.numParticles = 1000 self.probLoc = [] for index in range(0, self.numParticles): #self.probLoc.append(math.log(1) - math.log(self.numParticles)) self.probLoc.append(1/self.numParticles) self.realMean = 0 self.realStd = 0 self.particleSense = [] for index in range(0, self.numParticles): self.particleSense.append(0) self.round = 1 self.data = [] self.particlesToUse = [] self.map = lab10_map.Map("lab10.map")
def __init__(self, factory): """Constructor. Args: factory (factory.FactoryCreate) """ self.create = factory.create_create() self.time = factory.create_time_helper() self.servo = factory.create_servo() self.sonar = factory.create_sonar() self.arm = factory.create_kuka_lbr4p() self.virtual_create = factory.create_virtual_create() # self.virtual_create = factory.create_virtual_create("192.168.1.XXX") self.odometry = odometry.Odometry() self._map = lab8_map.Map("lab8_map.json") # self.map = lab10_map.Map("configuration_space.png") self.map = lab10_map.Map("config2.png") self.rrt = rrt.RRT(self.map) self.min_dist_to_localize = 0.1 self.min_theta_to_localize = math.pi / 4 # TODO identify good PID controller gains self.pidTheta = pid_controller.PIDController(300, 5, 50, [-10, 10], [-200, 200], is_angle=True) # self.pidTheta = pid_controller.PIDController(200, 0, 100, [-10, 10], [-50, 50], is_angle=True) # self.pidDistance = pid_controller.PIDController(300, 0, 20, [0, 0], [-200, 200], is_angle=False) # TODO identify good particle filter parameters self.pf = particle_filter.ParticleFilter(self._map, 5000, 0.06, 0.15, 0.2) _ = self.create.sim_get_position() self.my_arm_robot = MyArmRobot(factory.create_kuka_lbr4p(), self.time) self.joint_angles = np.zeros(7)
def __init__(self, factory): self.create = factory.create_create() self.time = factory.create_time_helper() self.sonar = factory.create_sonar() self.servo = factory.create_servo() self.odometry = odometry.Odometry() self.pidTheta = pid_controller.PIDController(300, 5, 50, [-10, 10], [-200, 200], is_angle=True) self.map = lab10_map.Map("lab10.png") self.rrt = rrt.RRT(self.map)
def __init__(self, factory): self.create = factory.create_create() self.time = factory.create_time_helper() self.map = lab10_map.Map("lab10.png") self.map.thicker_border = 10 self.odometry = odometry.Odometry() self.pidTheta = pid_controller.PIDController(300, 5, 50, [-10, 10], [-200, 200], is_angle=True)
def __init__(self, factory): """Constructor. Args: factory (factory.FactoryCreate) """ self.create = factory.create_create() self.time = factory.create_time_helper() self.servo = factory.create_servo() self.sonar = factory.create_sonar() # Add the IP-address of your computer here if you run on the robot self.virtual_create = factory.create_virtual_create() self.map = lab10_map.Map("lab10.map") self.pf = particle_filter.ParticleFilter() self.odometry = odometry.Odometry()
def __init__(self, factory): self.create = factory.create_create() self.time = factory.create_time_helper() self.map = lab10_map.Map("lab10.png") self.odometry = odometry.Odometry() self.pidTheta = pid_controller.PIDController(300, 5, 50, [-10, 10], [-200, 200], is_angle=True) self.pidDistance = pid_controller.PIDController(1000, 0, 50, [0, 0], [-200, 200], is_angle=False)
def __init__(self, factory): self.create = factory.create_create() self.time = factory.create_time_helper() self.map = lab10_map.Map("configuration_space.png") self.RRTree = RRTree(1, self.map) self.create = factory.create_create() self.time = factory.create_time_helper() self.sonar = factory.create_sonar() self.servo = factory.create_servo() self.odometry = odometry.Odometry() # self.pidTheta = pd_controller2.PDController(500, 100, -200, 200, is_angle=True) self.pidTheta = pid_controller.PIDController(300, 5, 50, [-10, 10], [-200, 200], is_angle=True) self.pidDistance = pid_controller.PIDController(1000, 0, 50, [0, 0], [-200, 200], is_angle=False)
def __init__(self, factory): """Constructor. Args: factory (factory.FactoryCreate) """ self.create = factory.create_create() self.time = factory.create_time_helper() self.servo = factory.create_servo() self.sonar = factory.create_sonar() self.arm = factory.create_kuka_lbr4p() self.virtual_create = factory.create_virtual_create() # self.virtual_create = factory.create_virtual_create("192.168.1.XXX") self.odometry = odometry.Odometry() # self.map = lab8_map.Map("lab8_map.json") self.map = lab10_map.Map("configuration_space.png") self.pidTheta = pid_controller.PIDController(300, 5, 50, [-10, 10], [-200, 200], is_angle=True) self.pidDistance = pid_controller.PIDController(300, 0, 20, [0, 0], [-200, 200], is_angle=False) # self.pidTheta = pid_controller.PIDController(200, 0, 100, [-10, 10], [-50, 50], is_angle=True) self.rrt = rrt.RRT(self.map) self.joint_angles = np.zeros(7) # the position that the robot returns after localizing self.localized_x = 0 self.localized_y = 0 self.localized_theta = math.pi / 2