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second robot controlled by mpc controller

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This commit is contained in:
Simon Pirkelmann 2020-11-18 21:53:32 +01:00
parent 2f081faee8
commit c2307261c5
1 changed files with 5 additions and 2 deletions
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7
remote_control/control_commander.py
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@ -3,19 +3,22 @@ import time
from robot import ControlledRobot from robot import ControlledRobot
from pid_controller import PIDController from pid_controller import PIDController
from mpc_controller import MPCController
from event_listener import EventListener from event_listener import EventListener
class CommanderBase: class CommanderBase:
def __init__(self): def __init__(self):
self.robots = [] self.robots = []
self.robots = [ControlledRobot(12, '10.10.11.91')] # , Robot(13, '192.168.1.13'), Robot(14, '192.168.1.14')] self.robots = [ControlledRobot(12, '10.10.11.91'), ControlledRobot(13, '10.10.11.90')] #, Robot(14, '192.168.1.14')]
# self.robots = [ControlledRobot(marker_id=13, ip='10.10.11.90'), # self.robots = [ControlledRobot(marker_id=13, ip='10.10.11.90'),
# ControlledRobot(marker_id=14, ip='10.10.11.89')] # ControlledRobot(marker_id=14, ip='10.10.11.89')]
for r in self.robots: for r in self.robots:
r.connect() r.connect()
r.attach_controller(PIDController())
self.robots[0].attach_controller(PIDController())
self.robots[1].attach_controller(MPCController())
self.event_listener = EventListener(event_server=('127.0.0.1', 42424)) self.event_listener = EventListener(event_server=('127.0.0.1', 42424))