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created looper, but database doesn't expand just changes entry

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Lars Bogner
2019-05-11 18:48:25 +02:00
parent 38940b46a8
commit ac6858677e
2 changed files with 31 additions and 0 deletions
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databaseCreatorv2.py
+25
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@@ -1,4 +1,26 @@
from RobotLib import *
import numpy as npy
class Looper:
def __init__(self, Robot):
self.stepsize = 0.3
self.robot = Robot
def run(self):
for ang_servo1 in npy.arange(self.robot.servo1.min, self.robot.servo1.max, self.stepsize):
self.robot.servo1.set_angle(ang_servo1)
for ang_servo2 in npy.arange(self.robot.servo2.min, self.robot.servo2.max, self.stepsize):
self.robot.servo2.set_angle(ang_servo2)
for ang_servo3 in npy.arange(self.robot.servo3.min, self.robot.servo3.max, self.stepsize):
self.robot.servo3.set_angle(ang_servo3)
self.robot.calculate()
self.robot.data.add_entry(self.robot.Database.Entry(self.robot.x, self.robot.y,
self.robot.efficency,
self.robot.servo1, self.robot.servo2,
self.robot.servo3))
print("A database with {} entries has been created.".format(len(self.robot.data.database)))
test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
Robot.Servo(2, Robot.Servo.Geometry(2.5, 0.55, 1.55)),
@@ -6,5 +28,8 @@ test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
Robot.CoordinateSystem([-100, 100], [-100, 100]))
test.init_depending(Robot.Arm(test.servo1, 10.26, 0.84), Robot.Arm(test.servo2, 9.85), Robot.Arm(test.servo3, 12, 9),
None, [test.servo1], [test.servo1, test.servo2])
looper = Looper(test)
looper.run()
print("finished")
print("test")