wight = len(fc.get_car_sight('0')[0])
hight = len(fc.get_car_sight('0'))
fc.set_time_speed(1)
fc.start()
ddpg = DDPG.DDPG(10, 1, np.array([np.pi / 3]))
var = np.pi / 3
times = 1
while times:
break_count = 0
s, a, r, s_, pointer = [], [], [], [], 0
fc.sleep(100)
start_time = fc.get_time()
s += [get_s('0')]
while break_count < 5:
a += [ddpg.predict(s[-1])]
print('a', *a[-1])
a[-1] += np.random.normal(a[-1], var)
fc.ctrl('0', *a[-1], 100)
run_time = fc.get_time()
while fc.get_time() - run_time < 100:
if ddpg.frame > 500:
ddpg.fit()
normal_working * fc.get_velocity('0') / 100000) < 60:
p = ddpg.predict(s[-1])
a += [p[0]]
if ddpg.frame < ddpg.REPLAY_CAPACITY / 8:
a[-1] = np.array([0., 100.])
a[-1] = np.random.normal(
a[-1] * np.random.uniform(max(1 - np.sqrt(var[0]), 0), 2), var, 2)
fc.ctrl('0', *(a[-1]))
run_time = fc.get_time()
while fc.get_time() - run_time < FRAME_SPACING:
if ddpg.frame > ddpg.REPLAY_CAPACITY / 8:
ddpg.fit()
var *= 0.9999
else:
fc.sleep(1)
r += [get_r('0')]
s_ += [get_s('0')]
if r[-1] > -30:
normal_working = fc.get_time() - start_time
s += [s_[-1]]
at = np.mean(np.array(s)[:min(len(s), 40), 10])
mv = np.mean(np.array(s)[:, 10])
LAST_FRAME = 100
if ddpg.frame > ddpg.REPLAY_CAPACITY / 8:
s, a, r, s_ = s[max(0,
train_velocity += [np.array([velocity])]
# train_time=fc.get_time()
# if(reset_time>1000):
# while fc.get_time()-train_time<20:
# model.fit({input_map:train_sight[:len(train_y)-1],
# input_degree:train_degree[:len(train_y)-1],
# input_velocity:train_velocity[:len(train_y)-1]},
# {y:train_y[:len(train_y)-1]},
# n_epoch=1,batch_size=512,show_metric=True,shuffle=True)
# else:
# while fc.get_time()-train_time<20:
# fc.sleep(1)
train_time = fc.get_time()
while fc.get_time() - train_time < 20:
fc.sleep(1)
print(fc.get_time() - train_time)
mid = fc.get_ti("0")["mid"]
delta = 0
if len(mid) > 8:
delta = mid[0][0] - (wight - 1) / 2
else:
delta = (wight - 1) / 2
#r = np.exp(-np.power(delta,2)/36)/(1+np.exp(-(velocity-100)))
r = np.exp(-np.power(delta, 2) / 64) * np.exp(
-np.power(velocity - 100, 2) / 2000)
print(r)