def main():
"""use 2d simulation to optimize parameters to construct a robot."""
constraints = []
# A=axe, L=length, P=proport., I=Integrate, D=Differentiate,
params = [104, 125, 1.0, 0, 0.0] # start with a working configuration
dparams = [0, 0, 0, 0, 1.0] # note that optimization for A, L, and I is disabled!
twiddle(params, dparams, constraints, run_laptime)
def main():
"""use 2d simulation to optimize parameters to construct a robot."""
def axe_constraint(params):
return params[0] < 85
def length_constraint(params):
return params[1] < 0
constraints = [axe_constraint, length_constraint]
# A=axe, L=length, P=proport., I=Integrate, D=Differentiate
# params = [100, 35, 230.0, 0.0, 3000.0] # start with a working configuration
# dparams = [10, 5, 20.0, 1.0, 300.0] # note that A, L are integers!
params = [95, 25, 213.0, -2.85, 3347.0] # start with a working configuration
dparams = [0, 0, 1.0, 1.0, 1.0] # note that A, L are disabled!
twiddle(params, dparams, constraints, run_cte)