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testing multistep mpc

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This commit is contained in:
Simon Pirkelmann 2019-06-13 13:46:29 +02:00
parent 8548348edd
commit c31bb9cb11
1 changed files with 3 additions and 3 deletions
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6
remote_control/position_controller.py
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@ -353,7 +353,7 @@ class RemoteController:
self.controlling = True self.controlling = True
elif event.key == pygame.K_DOWN: elif event.key == pygame.K_DOWN:
self.controlling = False 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: elif event.key == pygame.K_0:
self.target = (0.0, 0.0) self.target = (0.0, 0.0)
elif event.key == pygame.K_1: elif event.key == pygame.K_1:
@ -397,7 +397,7 @@ class RemoteController:
# if tgrid is not None: # if tgrid is not None:
tmpc_end = time.time() tmpc_end = time.time()
print("---------------- mpc solution took {} seconds".format(tmpc_end-tmpc_start)) 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] u1 = us1[i]
u2 = us2[i] u2 = us2[i]
dt_mpc = time.time() - self.t dt_mpc = time.time() - self.t
@ -405,7 +405,7 @@ class RemoteController:
# time.sleep(0.1 - dt_mpc) # time.sleep(0.1 - dt_mpc)
self.rc_socket.send('({},{},{})\n'.format(0.1,u1, u2)) self.rc_socket.send('({},{},{})\n'.format(0.1,u1, u2))
self.t = time.time() self.t = time.time()
time.sleep(0.01) time.sleep(0.1)
# #