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sim.py
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from math import sin, cos, pi, atan
import numpy as np
import matplotlib.pyplot as plt
# Hyperparameters (all lengths in meters)
L = 10 # Length of arena
H = 10 # Width of arena
B_x = 0 # Earth's magnetic field, replace later
B_y = 1
# Paperbot
d_paper = 0.05 # wheel diameter
w_paper = 0.09 # width of robot
# Segway
d_seg = 0.502
w_seg = 0.53
# run a full simulation
def simulate(input_list, init_state, delta_t, d, w):
state_list = []
sensor_list = []
state = init_state
for inputs in input_list:
state_list.append(state)
state, sensor = simulate_step(state, inputs, delta_t, d, w)
sensor_list.append(sensor)
return state_list, sensor_list
# simulate one time step
def simulate_step(state_k, input_k, delta_t, d, w):
'''
Inputs:
state_t: tuple of x, y, and theta at time k, in that order
input_t: tuple of left wheel velocity and right wheel velocity, in that order
Outputs:
next_state: x, y, and theta at time k+1
readings: sensor readings for l1, l2, big_omega, b1, and b2
'''
x_k = state_k[0]
y_k = state_k[1]
theta_k = state_k[2]
omegaL_k = input_k[0]
omegaR_k = input_k[1]
# state update
x_next = x_k + (-((d*delta_t/4)*sin(theta_k))*omegaR_k) + (((d*delta_t/4)*sin(theta_k))*omegaL_k) #no noise component yet
y_next = y_k + (-((d*delta_t/4)*cos(theta_k))*omegaR_k) + (((d*delta_t/4)*cos(theta_k))*omegaL_k) #no noise component yet
theta_next = theta_k + ((d*delta_t/(2*w))*omegaR_k) + ((d*delta_t/(2*w))*omegaL_k) #no noise component yet
# bound x between 0 and L
if x_next < 0.0:
x_next = 0.0
elif x_next > L:
x_next = L
# bound y between 0 and H
if y_next < 0:
y_next = 0.0
elif y_next > H:
y_next = H
# normalize theta between 0 and 2*pi
if theta_next < 0.0:
theta_next += 2*pi
elif theta_next > 2*pi:
theta_next -= 2*pi
# Take Readings
l1_k = H - y_k
l2_k = L - x_k
big_omega_k = (d/(2*w))*(omegaR_k+omegaL_k)
if big_omega_k < 0.0:
big_omega_k += 2*pi
elif big_omega_k > 2*pi:
big_omega_k -= 2*pi
b1_k = B_x*cos(theta_k) - B_y*sin(theta_k)
b2_k = B_x*sin(theta_k) + B_y*cos(theta_k)
next_state = (x_next, y_next, theta_next)
sensor_readings = (l1_k, l2_k, big_omega_k, b1_k, b2_k)
return next_state, sensor_readings
def plot_path(state_list, title):
x = []
y = []
for states in state_list:
x.append(states[0])
y.append(states[1])
f = plt.figure(1)
plt.xlim((0,L))
plt.ylim((0,H))
f.set_figheight(5)
f.set_figwidth(5)
plt.plot(x,y)
plt.title(title)
plt.show()
def paperbot():
#PAPERBOTS
# Matthew
init_state = (0.0, 0.0, 45.0 * np.pi / 180)
right_wheel = read_data('wheel_data/matthew_right.txt')
left_wheel = read_data('wheel_data/matthew_left.txt')
input_list = []
for i in np.arange(len(left_wheel)):
left_rad = left_wheel[i] * np.pi / 180
right_rad = right_wheel[i] * np.pi / -180
input_list.append((left_rad, right_rad))
delta_t = 0.01 #length of time step
state_list, sensor_list = simulate(input_list, init_state, delta_t, d_paper, w_paper)
plot_path(state_list, "Matthew Paperbot")
x_coord = []
y_coord = []
for i in np.arange(len(state_list)):
x_coord.append(state_list[i][0] - init_state[0])
y_coord.append(state_list[i][1] - init_state[1])
print(x_coord)
print()
print(y_coord)
# Ryan
init_state = (0.0, 0.0, 45.0 * np.pi / 180)
right_wheel = read_data('wheel_data/ryan_right.txt')
left_wheel = read_data('wheel_data/ryan_left.txt')
input_list = []
for i in np.arange(len(left_wheel)):
left_rad = left_wheel[i] * np.pi / 180
right_rad = right_wheel[i] * np.pi / -180
input_list.append((left_rad, right_rad))
delta_t = 0.01 #length of time step
state_list, sensor_list = simulate(input_list, init_state, delta_t, d_paper, w_paper)
plot_path(state_list, "Ryan Paperbot")
x_coord = []
y_coord = []
for i in np.arange(len(state_list)):
x_coord.append(state_list[i][0] - init_state[0])
y_coord.append(state_list[i][1] - init_state[1])
print(x_coord)
print()
print(y_coord)
# Remy
init_state = (0.0, 0.0, 45.0 * np.pi / 180)
right_wheel = read_data('wheel_data/remy_right.txt')
left_wheel = read_data('wheel_data/remy_left.txt')
input_list = []
for i in np.arange(len(left_wheel)):
left_rad = left_wheel[i] * np.pi / 180
right_rad = right_wheel[i] * np.pi / -180
input_list.append((left_rad, right_rad))
delta_t = 0.01 #length of time step
state_list, sensor_list = simulate(input_list, init_state, delta_t, d_paper, w_paper)
plot_path(state_list, "Remy Paperbot")
x_coord = []
y_coord = []
for i in np.arange(len(state_list)):
x_coord.append(state_list[i][0] - init_state[0])
y_coord.append(state_list[i][1] - init_state[1])
print(x_coord)
print()
print(y_coord)
# Gwen
init_state = (0.2, 0.3, 0.0 * np.pi / 180)
right_wheel = read_data('wheel_data/gwen_right.txt')
left_wheel = read_data('wheel_data/gwen_left.txt')
input_list = []
for i in np.arange(len(left_wheel)):
left_rad = left_wheel[i] * np.pi / 180
right_rad = right_wheel[i] * np.pi / -180
input_list.append((left_rad, right_rad))
delta_t = 0.01 #length of time step
state_list, sensor_list = simulate(input_list, init_state, delta_t, d_paper, w_paper)
plot_path(state_list, "Gwen Paperbot")
x_coord = []
y_coord = []
for i in np.arange(len(state_list)):
x_coord.append(state_list[i][0] - init_state[0])
y_coord.append(state_list[i][1] - init_state[1])
print(x_coord)
print()
print(y_coord)
def segway():
# SEGWAY
# Matthew
init_state = (0.0, 0.0, 45.0 * np.pi / 180)
right_wheel = read_data('wheel_data/matthew_right.txt')
left_wheel = read_data('wheel_data/matthew_left.txt')
input_list = []
for i in np.arange(len(left_wheel)):
left_rad = left_wheel[i] * np.pi / 180
right_rad = right_wheel[i] * np.pi / -180
input_list.append((left_rad, right_rad))
delta_t = 0.01 #length of time step
state_list, sensor_list = simulate(input_list, init_state, delta_t, d_seg, w_seg)
plot_path(state_list, "Matthew Segway")
x_coord = []
y_coord = []
for i in np.arange(len(state_list)):
x_coord.append(state_list[i][0] - init_state[0])
y_coord.append(state_list[i][1] - init_state[1])
print(x_coord)
print()
print(y_coord)
# Ryan
init_state = (0.0, 0.0, 45.0 * np.pi / 180)
right_wheel = read_data('wheel_data/ryan_seg_right.txt')
left_wheel = read_data('wheel_data/ryan_seg_left.txt')
input_list = []
for i in np.arange(len(left_wheel)):
left_rad = left_wheel[i] * np.pi / 180
right_rad = right_wheel[i] * np.pi / -180
input_list.append((left_rad, right_rad))
delta_t = 0.01 #length of time step
state_list, sensor_list = simulate(input_list, init_state, delta_t, d_seg, w_seg)
plot_path(state_list, "Ryan Segway")
x_coord = []
y_coord = []
for i in np.arange(len(state_list)):
x_coord.append(state_list[i][0] - init_state[0])
y_coord.append(state_list[i][1] - init_state[1])
print(x_coord)
print()
print(y_coord)
# Remy
init_state = (0.0, 0.0, 45.0 * np.pi / 180)
right_wheel = read_data('wheel_data/remy_right.txt')
left_wheel = read_data('wheel_data/remy_left.txt')
input_list = []
for i in np.arange(len(left_wheel)):
left_rad = left_wheel[i] * np.pi / 180
right_rad = right_wheel[i] * np.pi / -180
input_list.append((left_rad, right_rad))
delta_t = 0.01 #length of time step
state_list, sensor_list = simulate(input_list, init_state, delta_t, d_seg, w_seg)
plot_path(state_list, "Remy Segway")
x_coord = []
y_coord = []
for i in np.arange(len(state_list)):
x_coord.append(state_list[i][0] - init_state[0])
y_coord.append(state_list[i][1] - init_state[1])
print(x_coord)
print()
print(y_coord)
# Gwen
init_state = (2.0, 2.0, 0.0 * np.pi / 180)
right_wheel = read_data('wheel_data/gwen_right.txt')
left_wheel = read_data('wheel_data/gwen_left.txt')
input_list = []
for i in np.arange(len(left_wheel)):
left_rad = left_wheel[i] * np.pi / 180
right_rad = right_wheel[i] * np.pi / -180
input_list.append((left_rad, right_rad))
delta_t = 0.01 #length of time step
state_list, sensor_list = simulate(input_list, init_state, delta_t, d_seg, w_seg)
plot_path(state_list, "Gwen Segway")
x_coord = []
y_coord = []
for i in np.arange(len(state_list)):
x_coord.append(state_list[i][0] - init_state[0])
y_coord.append(state_list[i][1] - init_state[1])
print(x_coord)
print()
print(y_coord)
def read_data(datafile):
f = open(datafile, 'r')
data_str = f.readlines()
data = []
for i in np.arange(len(data_str)):
data_str[i] = data_str[i].replace('\n', '')
data.append(float(data_str[i]))
return data
def write_data(filename, data):
f = open(filename, 'w')
data_str = []
for i in np.arange(len(data)):
data_str.append(str(data[i]) + '\n')
f.writelines(data_str)
if __name__ == "__main__":
segway()