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authorlake0112 <lake0112@umn.edu>2022-02-24 16:32:46 -0600
committerlake0112 <lake0112@umn.edu>2022-02-24 16:32:46 -0600
commit1a8d5be1ca93db82769556f80319739291204ef0 (patch)
treeb0d9167f835c86633032ed39c623b7dd8e57dfaa /System
parentMerge branch 'master' of https://github.com/UMN-EE4951W-Lamperski/pendulum (diff)
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add soft limit
Diffstat (limited to 'System')
-rw-r--r--System/pendulum/system.py6
1 files changed, 4 insertions, 2 deletions
diff --git a/System/pendulum/system.py b/System/pendulum/system.py
index 07c04bf..7dd038a 100644
--- a/System/pendulum/system.py
+++ b/System/pendulum/system.py
@@ -74,8 +74,10 @@ class System:
# Setup soft limits if defined by the user (this is "challenge mode" for the user, making the constraints more difficult).
# By default, the soft limits will not be used (when set NaN), and the whole extent of the system is available (to the HW limits).
- self.negative_soft_limit = negative_limit
- self.positive_soft_limit = positive_limit
+ #self.negative_soft_limit = negative_limit
+ #self.positive_soft_limit = positive_limit
+ self.negative_soft_limit = -15
+ self.positive_soft_limit = 15
# If both limits have been defined, verify that they are valid (i.e. positive limit must be greater than the negative limit)
if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit:
print("ERROR: Invalid software limits provided. Must be valid floating-point numbers and positive limit must be greater than negative limit. Software limits will be disabled.")