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Python3 compatible #9

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Python3 compatible #9

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e3d0bf2
Add parethensis to print calls
rribalta Nov 17, 2022
8e2d14d
Fix control_iterations not being an integer
rribalta Nov 17, 2022
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2 changes: 1 addition & 1 deletion quadPlot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ def plot_quad_3d(waypoints, get_world_frame):
frames=400, interval=10, blit=False)

if len(sys.argv) > 1 and sys.argv[1] == 'save':
print "saving"
print("saving")
an.save('sim.gif', dpi=80, writer='imagemagick', fps=60)
else:
plt.show()
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2 changes: 1 addition & 1 deletion runsim.py
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Expand Up @@ -14,7 +14,7 @@

animation_frequency = 50
control_frequency = 200 # Hz for attitude control loop
control_iterations = control_frequency / animation_frequency
control_iterations = (int)(control_frequency / animation_frequency)
dt = 1.0 / control_frequency
time = [0.0]

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6 changes: 3 additions & 3 deletions test/test_controller.py
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Expand Up @@ -13,9 +13,9 @@ def test_run(self):
time = 0.0
des_state = trajGen.genLine(time)
F, M = controller.run(quad, des_state)
print "des_state", des_state
print "F", F
print "M", M
print("des_state", des_state)
print("F", F)
print("M", M)

if __name__ == '__main__':
unittest.main()
4 changes: 2 additions & 2 deletions test/test_quadcopter.py
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Expand Up @@ -25,7 +25,7 @@ def test_state_dot(self):
dt = 0.01

s_dot = quadcopter.state_dot(quadcopter.state,dt,F,M)
print "s_dot", s_dot
print("s_dot", s_dot)

def test_update(self):
pos = (0,0,0)
Expand All @@ -41,7 +41,7 @@ def test_attitude(self):
attitude = [0,0,np.pi/2]
quadcopter = Quadcopter(pos, attitude)
attitude = quadcopter.attitude()
print "attitude", attitude
print("attitude", attitude)

if __name__ == '__main__':
unittest.main()
2 changes: 1 addition & 1 deletion test/test_quaternion.py
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Expand Up @@ -16,7 +16,7 @@ def test_as_v_thta(self):
expected_v = np.array(x)
expected_theta = np.pi/2
actual_v, actual_theta = q.as_v_theta()
print actual_v, actual_theta, expected_v
print(actual_v, actual_theta, expected_v)
self.assertTrue(np.array_equal(expected_v, actual_v))
self.assertEqual(expected_theta, actual_theta)

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2 changes: 1 addition & 1 deletion test/test_trajGen3D.py
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Expand Up @@ -94,7 +94,7 @@ def test_desired_state_size(self):
self.assertEqual(desired_state.vel.shape, (3,))
self.assertEqual(desired_state.acc.shape, (3,))
des_x_dot, des_y_dot, des_z_dot = desired_state.vel
print "desired_state", desired_state
print("desired_state", desired_state)

if __name__ == '__main__':
unittest.main()
4 changes: 2 additions & 2 deletions test/test_waypoints.py
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Expand Up @@ -6,8 +6,8 @@
def get_full_trajectory():
T = np.linspace(0, 100, 1000)
waypoints = trajGen3D.get_helix_waypoints(0, 9)
print "T", T
print "waypoints", waypoints
print("T", T)
print("waypoints", waypoints)

full_traj = np.zeros((T.size,3))
for i, t in enumerate(T):
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2 changes: 1 addition & 1 deletion trajGen3D.py
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Expand Up @@ -98,7 +98,7 @@ def generate_trajectory(t, v, waypoints, coeff_x, coeff_y, coeff_z):
if yaw > np.pi:
yaw = yaw - 2*np.pi

# print next_heading, current_heading, "yaw", yaw*180/np.pi, 'pos', pos
# print(next_heading, current_heading, "yaw", yaw*180/np.pi, 'pos', pos
current_heading = next_heading
yawdot = delta_psi / 0.005 # dt is control period
return DesiredState(pos, vel, acc, yaw, yawdot)
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