From ced626da5417fefc7b7ef45675d80f7a59329f2d Mon Sep 17 00:00:00 2001 From: Raspberry Pi Date: Sat, 16 Nov 2019 19:59:29 -0600 Subject: Fixed some indentation issues and leftover from porting. Compiles and potentially runs now. --- System_Python/system_swingup_test.py | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/System_Python/system_swingup_test.py b/System_Python/system_swingup_test.py index 1b30c41..e4d3a72 100644 --- a/System_Python/system_swingup_test.py +++ b/System_Python/system_swingup_test.py @@ -82,8 +82,8 @@ class SwingUpEnv(): state = self.state x, x_dot, theta, theta_dot = state force = self.force_mag * action[0] - self.sys.adjust(force) - + self.sys.adjust(force) + costheta = math.cos(theta) sintheta = math.sin(theta) @@ -94,12 +94,12 @@ class SwingUpEnv(): else: self.up_time = 0 - new_theta, new_x = self.sys.measure() - new_theta = radians(new_theta) - theta_dot = (new_theta - theta) / self.tau + new_theta, new_x = self.sys.measure() + new_theta = radians(new_theta) + theta_dot = (new_theta - theta) / self.tau x_dot = (new_x - x) / self.tau - self.state = (new_x, x_dot, new_theta, theta_dot) - + self.state = (new_x, x_dot, new_theta, theta_dot) + done = x < -self.x_threshold \ or x > self.x_threshold \ or theta_dot < -self.theta_dot_threshold \ @@ -121,10 +121,10 @@ class SwingUpEnv(): return np.array(self.state), reward, done, {'max_up_time' : self.max_up_time} def reset(self): - self.sys.return_home() - time.sleep(1) - self.state = (0, 0, np.pi, 0) - + self.sys.return_home() + time.sleep(1) + self.state = (0, 0, np.pi, 0) + self.up_time = 0 self.max_up_time = 0 self.up = False @@ -219,7 +219,7 @@ class sarsaAgent: self.r_last = np.copy(r) # This is the environment -env = swingUp.SwingUpEnv() +env = SwingUpEnv() # For simplicity, we only consider forces of -1 and 1 numActions = 2 -- cgit v1.2.3