Telos4/RoboRally
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general refactoring

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This commit is contained in:
Simon Pirkelmann 2020-10-24 21:11:22 +02:00
parent 7ded3bee79
commit a0f701fe83
1 changed files with 30 additions and 30 deletions
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remote_control/mpc_controller.py
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@ -3,6 +3,7 @@ import time
from casadi_opt import OpenLoopSolver from casadi_opt import OpenLoopSolver
class MPCController: class MPCController:
def __init__(self, estimator): def __init__(self, estimator):
self.t = time.time() self.t = time.time()
@ -77,7 +78,6 @@ class MPCController:
us2 = res[1] * self.control_scaling us2 = res[1] * self.control_scaling
# print("u = {}", (us1, us2)) # print("u = {}", (us1, us2))
tmpc_end = time.time()
# print("---------------- mpc solution took {} seconds".format(tmpc_end - tmpc_start)) # print("---------------- mpc solution took {} seconds".format(tmpc_end - tmpc_start))
dt_mpc = time.time() - self.t dt_mpc = time.time() - self.t
if dt_mpc < self.dt: # wait until next control can be applied if dt_mpc < self.dt: # wait until next control can be applied