Commit 3f9b9bc6 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

[Python] Format

parent 56410b7d
import numpy as np
import matplotlib.pyplot as pl
import dynamic_graph as dg
import dynamic_graph.tutorial as dgt
import dynamic_graph.signal_base as dgsb
import matplotlib.pyplot as pl
import numpy as np
# define inverted pendulum
a = dgt.InvertedPendulum("IP")
......@@ -14,8 +13,8 @@ b = dgt.FeedbackController("K")
# plug signals
stateOut = a.signal('state')
forceIn = a.signal('force')
stateIn = b.signal('state')
forceIn = a.signal('force')
stateIn = b.signal('state')
forceOut = b.signal('force')
dg.plug(stateOut, stateIn)
......@@ -27,20 +26,25 @@ timeStep = 0.001
s = stateOut
f = forceIn
s.value = (0.0,0.1,0.0,0.0)
s.value = (0.0, 0.1, 0.0, 0.0)
gain = ((
0.0,
27.0,
0.001,
0.001,
), )
b.setGain(gain, )
gain = ((0.0,27.0,0.001,0.001,),)
b.setGain(gain,)
def play (nbSteps):
def play(nbSteps):
timeSteps = []
values = []
forces = []
# Loop over time and compute discretized state values
for x in xrange(nbSteps) :
t = x*timeStep
for x in range(nbSteps):
t = x * timeStep
timeSteps.append(t)
values.append(s.value)
forces.append(f.value)
......@@ -50,24 +54,24 @@ def play (nbSteps):
x = np.array(timeSteps)
y = np.array(values).transpose()
fig = pl.figure()
fig = pl.figure()
ax1 = fig.add_subplot(121)
ax2 = fig.add_subplot(122)
# plot configuration variables
ax1.plot(x,y[0])
ax1.plot(x,y[1])
ax1.plot(x, y[0])
ax1.plot(x, y[1])
# plot velocity variables
ax2.plot(x,y[2])
ax2.plot(x,y[3])
ax2.plot(x,forces)
ax2.plot(x, y[2])
ax2.plot(x, y[3])
ax2.plot(x, forces)
leg = ax1.legend(("x", "theta"))
leg = ax2.legend(("dx", "dtheta", "force"))
ax1.legend(("x", "theta"))
ax2.legend(("dx", "dtheta", "force"))
pl.show()
if __name__ == '__main__' :
play(100)
if __name__ == '__main__':
play(100)
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