use mpc controller with short horizon

remote_control/control_commander.py

@@ -57,8 +57,8 @@ class ControlCommander:
             if not all_detected:
                 print(f"warning: no measurements available for the following robots: {undetected_robots}")
                 time.sleep(0.5)
+        print("all robots detected -> starting control")
 
-        print("starting control")
         self.running = True
         while self.running:
             while not self.event_listener.event_queue.empty():
@@ -111,13 +111,13 @@ class ControlCommander:
 if __name__ == '__main__':
     id_ip_dict = {
         #11: '10.10.11.88',
-        12: '192.168.1.12',
+        #12: '192.168.1.12',
         13: '192.168.1.13',
         #14: '10.10.11.89',
     }
 
     # controller_type = {12: 'mpc', 13: 'pid'}
-    controller_type = 'pid'
+    controller_type = 'mpc'
 
     rc = ControlCommander(id_ip_dict, controller_type=controller_type)
     rc.run()

remote_control/mpc_controller.py

@@ -6,7 +6,7 @@ from casadi_opt import OpenLoopSolver
 
 
 class MPCController(ControllerBase):
-    def __init__(self, N=20, T=1.0):
+    def __init__(self, N=10, T=1.0):
         super().__init__()
         self.t = None