added test for max speed and prediction step in MPC
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fb12a3c94b
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465309ee45
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@ -124,7 +124,7 @@ class RemoteController:
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self.ols = OpenLoopSolver()
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self.ols.setup()
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self.target = (0.0, 0.0)
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self.target = (0.0, 0.0, 0.0)
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def ani(self):
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self.ani = anim.FuncAnimation(self.fig, init_func=self.ani_init, func=self.ani_update, interval=10, blit=True)
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@ -215,6 +215,18 @@ class RemoteController:
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tgrid = None
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us1 = None
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us2 = None
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u1 = -0.0
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u2 = 0.0
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r = scipy.integrate.ode(f_ode)
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omega_max = 5.0
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init_pos = None
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init_time = None
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final_pos = None
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final_time = None
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forward = True
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print("starting control")
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while True:
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@ -225,7 +237,7 @@ class RemoteController:
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if keyboard_control: # keyboard controller
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events = pygame.event.get()
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speed = 0.5
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speed = 1.0
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for event in events:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT:
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@ -244,17 +256,17 @@ class RemoteController:
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self.u1 = -speed
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self.u2 = -speed
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#print("forward: ({},{})".format(u1, u2))
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self.rc_socket.send('({},{})\n'.format(self.u1, self.u2))
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self.rc_socket.send('({},{},{})\n'.format(0.1, self.u1, self.u2))
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elif event.type == pygame.KEYUP:
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self.u1 = 0
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self.u2 = 0
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#print("key released, resetting: ({},{})".format(u1, u2))
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self.rc_socket.send('({},{})\n'.format(self.u1, self.u2))
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self.rc_socket.send('({}, {},{})\n'.format(0.1, self.u1, self.u2))
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tnew = time.time()
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dt = tnew - self.t
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r = scipy.integrate.ode(f_ode)
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r.set_f_params(np.array([self.u1 * 13.32, self.u2 * 13.32]))
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r.set_f_params(np.array([self.u1 * omega_max, self.u2 * omega_max]))
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#print(self.x0)
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if self.x0 is None:
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@ -282,18 +294,59 @@ class RemoteController:
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events = pygame.event.get()
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for event in events:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT:
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self.speed = self.speed / np.sqrt(np.sqrt(np.sqrt(10.0)))
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elif event.key == pygame.K_RIGHT:
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self.speed = self.speed * np.sqrt(np.sqrt(np.sqrt(10.0)))
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elif event.key == pygame.K_UP:
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u1 = self.speed
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u2 = -self.speed
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elif event.key == pygame.K_DOWN:
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u1 = 0.0
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u2 = 0.0
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print("speed = {}".format(self.speed))
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self.rc_socket.send('({},{})\n'.format(u1, u2))
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if event.key == pygame.K_1:
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self.controlling = True
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forward = True
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print("starting test")
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self.mutex.acquire()
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try:
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init_pos = copy.deepcopy(self.xms[-1])
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init_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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if event.key == pygame.K_2:
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self.controlling = True
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forward = False
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print("starting test")
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self.mutex.acquire()
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try:
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init_pos = copy.deepcopy(self.xms[-1])
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init_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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elif event.key == pygame.K_3:
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self.controlling = False
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print("stopping test")
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self.rc_socket.send('(0.1, 0.0,0.0)\n')
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self.mutex.acquire()
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try:
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final_pos = copy.deepcopy(self.xms[-1])
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final_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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print("init_pos = {}".format(init_pos))
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print("final_pos = {}".format(final_pos))
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print("distance = {}".format(np.linalg.norm(init_pos[0:2]-final_pos[0:2])))
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print("dt = {}".format(final_time - init_time))
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d = np.linalg.norm(init_pos[0:2]-final_pos[0:2])
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t = final_time - init_time
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r = 0.03
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angular_velocity = d/r/t
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print("average angular velocity = {}".format(angular_velocity))
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if self.controlling:
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if forward:
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self.rc_socket.send('(0.1, 1.0,1.0)\n')
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else:
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self.rc_socket.send('(0.1, -1.0,-1.0)\n')
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time.sleep(0.1)
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#print("speed = {}".format(self.speed))
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elif pid:
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# pid controller
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@ -351,24 +404,44 @@ class RemoteController:
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_UP:
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self.controlling = True
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self.t = time.time()
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elif event.key == pygame.K_DOWN:
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self.controlling = False
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self.rc_socket.send('(0.1, 0.0,0.0)\n')
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elif event.key == pygame.K_0:
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self.target = (0.0, 0.0)
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self.target = (0.0, 0.0, 0.0)
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elif event.key == pygame.K_1:
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self.target = (0.5,0.5)
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self.target = (0.5,0.5, -np.pi/2.0)
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elif event.key == pygame.K_2:
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self.target = (0.5, -0.5)
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self.target = (0.5, -0.5, 0.0)
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elif event.key == pygame.K_3:
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self.target = (-0.5,-0.5)
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self.target = (-0.5,-0.5, np.pi/2.0)
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elif event.key == pygame.K_4:
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self.target = (-0.5,0.5)
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self.target = (-0.5,0.5, 0.0)
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if self.controlling:
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tmpc_start = time.time()
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# get measurement
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self.mutex.acquire()
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try:
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last_measurement = copy.deepcopy(self.xms[-1])
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res = self.ols.solve(last_measurement, self.target)
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last_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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print("current measurement (t, x) = ({}, {})".format(last_time, last_measurement))
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print("current control (u1, u2) = ({}, {})".format(u1, u2))
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# prediction of state at time the mpc will terminate
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r.set_f_params(np.array([u1 * omega_max, u2 * omega_max]))
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r.set_initial_value(last_measurement, last_time)
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dt = self.ols.T/self.ols.N
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print("integrating for {} seconds".format((dt)))
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x_pred = r.integrate(r.t + (dt))
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print("predicted initial state x_pred = ({})".format(x_pred))
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res = self.ols.solve(x_pred, self.target)
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#tgrid = res[0]
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us1 = res[0]
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us2 = res[1]
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@ -396,16 +469,28 @@ class RemoteController:
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#if event.key == pygame.K_DOWN:
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# if tgrid is not None:
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tmpc_end = time.time()
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print("---------------- mpc solution took {} seconds".format(tmpc_end-tmpc_start))
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for i in range(0, 5):
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print("---------------- mpc solution took {} seconds".format(tmpc_end - tmpc_start))
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dt_mpc = time.time() - self.t
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if dt_mpc < dt:
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print("sleeping for {} seconds...".format(dt - dt_mpc))
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time.sleep(dt - dt_mpc)
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self.mutex.acquire()
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try:
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second_measurement = copy.deepcopy(self.xms[-1])
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second_time = copy.deepcopy(self.tms[-1])
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finally:
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self.mutex.release()
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print("(last_time, second_time, dt) = ({}, {}, {})".format(last_time, second_time, second_time - last_time))
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print("mismatch between predicted state and measured state: {}\n\n".format(second_measurement - last_measurement))
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for i in range(0, 1):
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u1 = us1[i]
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u2 = us2[i]
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dt_mpc = time.time() - self.t
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#if dt_mpc < 0.1:
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# time.sleep(0.1 - dt_mpc)
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self.rc_socket.send('({},{},{})\n'.format(0.1,u1, u2))
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self.rc_socket.send('({},{},{})\n'.format(dt,u1, u2))
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self.t = time.time()
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time.sleep(0.1)
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#time.sleep(0.2)
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#
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