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-rw-r--r--System_Python/encoder.py3
-rw-r--r--System_Python/system.py17
-rw-r--r--System_Python/system_swingup_test.py98
-rw-r--r--System_Python/test_Return_Home.py16
4 files changed, 90 insertions, 44 deletions
diff --git a/System_Python/encoder.py b/System_Python/encoder.py
index 63bc73e..ece7fd1 100644
--- a/System_Python/encoder.py
+++ b/System_Python/encoder.py
@@ -34,7 +34,8 @@ class Encoder:
time.sleep(0.5)
def set_zero(self, offset = 0):
# Take current position as zero
- self.offset = self.read_position('Raw') - offset
+ pos = self.read_position('Raw')
+ self.offset = (self.read_position('Raw') + self.offset + offset) % 1024
def clockup(self):
GPIO.output(self.clk_pin, 1)
def clockdown(self):
diff --git a/System_Python/system.py b/System_Python/system.py
index b5a68cc..c6145ce 100644
--- a/System_Python/system.py
+++ b/System_Python/system.py
@@ -94,7 +94,7 @@ class System:
pressed = True
while pressed != False:
# We must continue reading linear encoder motion to keep track of rotations
- self.encoder_linear.read_position()
+ position = self.encoder_linear.read_position()
pressed = GPIO.input(limit_positive_pin)
sleep(0.01)
#GPIO.wait_for_edge(limit_positive_pin, GPIO.FALLING)
@@ -116,6 +116,12 @@ class System:
GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback, bouncetime=300)
# END initialize
+ # Return home, cleanup IO. This should be called when exiting the program
+ def deinitialize(self):
+ self.return_home()
+ self.motor.brake()
+ GPIO.cleanup()
+
# Get the values of the encoders to determine the angular and linear position of the pendulum.
# Values are returned as a tuple: (angle, linear).
### angle: 0 indicates the pendulum is exactly straight up.
@@ -185,11 +191,16 @@ class System:
self.motor.move(-4)
while position > 0:
position = self.encoder_linear.read_position()
+ sleep(0.01)
+ self.motor.brake()
+ return
elif position < 0:
self.motor.move(4)
while position < 0:
position = self.encoder_linear.read_position()
- self.motor.brake()
+ sleep(0.01)
+ self.motor.brake()
+ return
# END return_home
# Callback for when negative limit switch is triggered.
@@ -214,7 +225,7 @@ class System:
# END positive_limit_callback
def limit_triggered(self):
sleep(1)
- self.return_home()
+ self.deinitialize()
sys.exit(1)
# END System
diff --git a/System_Python/system_swingup_test.py b/System_Python/system_swingup_test.py
index 7a9b5bd..e13c7ca 100644
--- a/System_Python/system_swingup_test.py
+++ b/System_Python/system_swingup_test.py
@@ -8,6 +8,7 @@ from gym.utils import seeding
from system import System
import time
+from sys import exit
class SwingUpEnv():
"""
@@ -54,8 +55,8 @@ class SwingUpEnv():
def __init__(self):
self.sys = System(angular_units='Radians')
- self.force_mag = 10.0
- self.tau = 0.02 # seconds between state updates
+ self.force_mag = 10.
+ self.last_time = time.time() # time for seconds between updates
# Angle at which to fail the episode
self.x_threshold = 10.
@@ -93,10 +94,14 @@ class SwingUpEnv():
else:
self.up_time = 0
+
+ current_time = time.time()
+ tau = current_time - self.last_time
+ self.last_time = current_time
new_theta, new_x = self.sys.measure()
- theta_dot = (new_theta - theta) / self.tau
- x_dot = (new_x - x) / self.tau
+ theta_dot = (new_theta - theta) / tau
+ x_dot = (new_x - x) / tau
self.state = (new_x, x_dot, new_theta, theta_dot)
self.sys.add_results(new_theta, new_x, force)
@@ -120,16 +125,23 @@ class SwingUpEnv():
return np.array(self.state), reward, done, {'max_up_time' : self.max_up_time}
- def reset(self):
- self.sys.return_home()
+ def reset(self, home = True):
+ if home == True:
+ self.sys.return_home()
time.sleep(1)
- self.state = (0, 0, np.pi, 0)
+ init_ang, lin = self.sys.measure()
+ time.sleep(0.05)
+ ang, lin = self.sys.measure()
+ self.state = (0, 0, ang, (ang-init_ang)/0.05)
self.up_time = 0
self.max_up_time = 0
self.up = False
self.steps_beyond_done = None
return np.array(self.state)
+
+ def end(self):
+ self.sys.deinitialize()
class nnQ(pt.nn.Module):
@@ -181,7 +193,7 @@ class sarsaAgent:
# This is an epsilon greedy selection
a = 0
if rnd.rand() < self.epsilon:
- a = rnd.randint(numActions)
+ a = rnd.randint(0, numActions)
else:
qBest = -np.inf
for aTest in range(self.numActions):
@@ -223,14 +235,14 @@ class sarsaAgent:
env = SwingUpEnv()
# For simplicity, we only consider forces of -1 and 1
-numActions = 2
+numActions = 5
Actions = np.linspace(-1, 1, numActions)
# This is our learning agent
gamma = .95
agent = sarsaAgent(5, numActions, 20, 1, epsilon = 5e-2, gamma = gamma, alpha = 1e-5)
-maxSteps = 2e5
+maxSteps = 5e4
# This is a helper to deal with the fact that x[2] is actually an angle
x_to_y = lambda x : np.array([x[0], x[1], np.cos(x[2]), np.sin(x[2]), x[3]])
@@ -240,36 +252,42 @@ UpTime = []
step = 0
ep = 0
-while step < maxSteps:
- ep += 1
- x = env.reset()
- C = 0.
-
- done = False
- t = 1
- while not done:
- t += 1
- step += 1
- y = x_to_y(x)
- a = agent.action(y)
- u = Actions[a:a+1]
- x_next, c, done, info = env.step(u)
+try:
+ while step < maxSteps:
+ ep += 1
+ x = env.reset(home = ep > 1)
+ C = 0.
- max_up_time = info['max_up_time']
- y_next = x_to_y(x_next)
-
- C += (1./t) * (c - C)
- agent.update(y, a, c, y_next, done)
- x = x_next
- if done:
- break
+ done = False
+ t = 1
+ while not done:
+ t += 1
+ step += 1
+ y = x_to_y(x)
+ a = agent.action(y)
+ u = Actions[a:a+1]
+ x_next, c, done, info = env.step(u)
- if step >= maxSteps:
- break
+ max_up_time = info['max_up_time']
+ y_next = x_to_y(x_next)
+
+ C += (1./t) * (c - C)
+ agent.update(y, a, c, y_next, done)
+ x = x_next
+ if done:
+ break
+
+ if step >= maxSteps:
+ break
+
-
- 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)
-env.close()
+ 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)
+except:
+ env.end()
+ exit(-1)
+finally:
+ env.end()
+ exit(0) \ No newline at end of file
diff --git a/System_Python/test_Return_Home.py b/System_Python/test_Return_Home.py
new file mode 100644
index 0000000..244f99f
--- /dev/null
+++ b/System_Python/test_Return_Home.py
@@ -0,0 +1,16 @@
+from system import System
+from time import sleep
+
+# Main program
+sys = System()
+sys.initialize()
+
+ang,lin = sys.measure()
+print("Starting position before moving: " + str(lin))
+sys.adjust(4)
+ang,lin = sys.measure()
+sleep(0.01)
+while lin < 10:
+ ang,lin = sys.measure()
+ sleep(0.01)
+sys.return_home()
generated by cgit v1.2.3 (git 2.46.0) at 2024-11-28 20:27:39 +0000