diff options
| -rw-r--r-- | System/system.py | 23 | ||||
| -rw-r--r-- | System/system_swingup_test_2.py | 7 |
2 files changed, 23 insertions, 7 deletions
diff --git a/System/system.py b/System/system.py index 63d0ecc..8dd9f38 100644 --- a/System/system.py +++ b/System/system.py @@ -77,7 +77,7 @@ class System: self.result_filename = "Results/" + os.path.basename(sys.argv[0]).split('.')[0] + "_results.csv"
result_file = open(self.result_filename, "w+")
- result_file.write("angle(" + angular_units + "),position(inches),speed(percentage)\n")
+ result_file.write("timestamp,angle(" + angular_units + "),position(inches),speed(percentage)\n")
result_file.close()
# Setup a thread to constantly be measuring encoder positions
@@ -173,7 +173,7 @@ class System: self.motor.brake()
# Print negative soft limit violation to the results file.
result_file = open(self.result_filename, "a")
- result_file.write("Negative software limit %f has been reached!" % self.negative_soft_limit)
+ result_file.write("Negative software limit %f has been reached!\n" % self.negative_soft_limit)
result_file.close()
# Fire the limit trigger method
self.sw_limit_routine()
@@ -185,7 +185,7 @@ class System: self.motor.brake()
# Print positive soft limit violation to the results file.
result_file = open(self.result_filename, "a")
- result_file.write("Positive software limit %f has been reached!" % self.positive_soft_limit)
+ result_file.write("Positive software limit %f has been reached!\n" % self.positive_soft_limit)
result_file.close()
# Fire the limit trigger method
self.sw_limit_routine()
@@ -220,13 +220,24 @@ class System: # open the results file
result_file = open(self.result_filename, "a")
# Write the results
- result_file.write("%f," % angle) # Write angle
- result_file.write("%f," % position) # Write position
- result_file.write("%f\n" % speed) # Write speed (end of line)
+ result_file.write("%s," % datetime.now().strftime("%H:%M:%S.%f")) # Write current time
+ result_file.write("%f," % angle) # Write angle
+ result_file.write("%f," % position) # Write position
+ result_file.write("%f\n" % speed) # Write speed (end of line)
# Close the results file
result_file.close()
# END add_results
+ def add_log(self, message):
+ # open the results file
+ result_file = open(self.result_filename, "a")
+ # Write the log
+ result_file.write("%s\n" % message)
+ # re-write the csv headers for next logging
+ result_file.write("timestamp,angle(" + self.angular_units + "),position(inches),speed(percentage)\n")
+ # Close the results file
+ result_file.close()
+
# Go back to the zero position (linear) so that the next execution starts in the correct place.
def return_home(self):
position = self.linear_position
diff --git a/System/system_swingup_test_2.py b/System/system_swingup_test_2.py index 5c0ac5a..cb646ef 100644 --- a/System/system_swingup_test_2.py +++ b/System/system_swingup_test_2.py @@ -156,6 +156,10 @@ class SwingUpEnv(): def end(self):
self.sys.deinitialize()
+
+ def log(self, message):
+ self.sys.add_log(message)
+ print(message)
class nnQ(pt.nn.Module):
@@ -368,7 +372,8 @@ try: R.append(C)
UpTime.append(max_up_time)
#print('t:',ep+1,', R:',C,', L:',t-1,', G:',G,', Q:', Q_est, 'U:', max_up_time)
- print('Episode:',ep, 'Total Steps:',step, ', Ave. Reward:',C, ', Episode Length:',t-1, 'Max Up-Time:',max_up_time)
+ log = "Episode:" + str(ep) + " Total Steps:" + str(step) + " Ave. Reward:" + str(C) + " Episode Length:" + str(t-1) + " Max Up-Time:" + str(max_up_time)
+ env.log(log)
except:
env.end()
exit(-1)
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