From c31bb9cb11f51387610fd6c429accef8ab7697e1 Mon Sep 17 00:00:00 2001 From: spirkelmann Date: Thu, 13 Jun 2019 13:46:29 +0200 Subject: [PATCH] testing multistep mpc --- remote_control/position_controller.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/remote_control/position_controller.py b/remote_control/position_controller.py index 6ca867a..b19397d 100644 --- a/remote_control/position_controller.py +++ b/remote_control/position_controller.py @@ -353,7 +353,7 @@ class RemoteController: self.controlling = True elif event.key == pygame.K_DOWN: self.controlling = False - self.rc_socket.send('(0.0,0.0)\n') + self.rc_socket.send('(0.1, 0.0,0.0)\n') elif event.key == pygame.K_0: self.target = (0.0, 0.0) elif event.key == pygame.K_1: @@ -397,7 +397,7 @@ class RemoteController: # if tgrid is not None: tmpc_end = time.time() print("---------------- mpc solution took {} seconds".format(tmpc_end-tmpc_start)) - for i in range(0, 1): + for i in range(0, 5): u1 = us1[i] u2 = us2[i] dt_mpc = time.time() - self.t @@ -405,7 +405,7 @@ class RemoteController: # time.sleep(0.1 - dt_mpc) self.rc_socket.send('({},{},{})\n'.format(0.1,u1, u2)) self.t = time.time() - time.sleep(0.01) + time.sleep(0.1) #