fixed bugs in examples

SherbyRobotics · Aug 2, 2019 · 2c94091 · 2c94091
1 parent 0e063d3
commit 2c94091
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 8 deletions.
diff --git a/examples/simple_pendulum/simple_pendulum_with_pid.py b/examples/simple_pendulum/simple_pendulum_with_pid.py
@@ -8,17 +8,19 @@
 import numpy as np
 ###############################################################################
 from pyro.dynamic  import pendulum
-from pyro.control  import linear
+from pyro.control  import robotcontrollers
 from pyro.analysis import simulation
 ###############################################################################
 
 sys  = pendulum.SinglePendulum()
 
-kp = 200 # 2,4
-kd = 100 # 1
-ki = 0
+dof = 1
 
-ctl  = linear.JointPID(sys, kp , ki, kd)
+kp = 2 # 2,4
+kd = 1 # 1
+ki = 1
+
+ctl  = robotcontrollers.JointPID( dof, kp , ki, kd)
 
 # Set Point
 q_target = np.array([3.14])

diff --git a/examples/test_all_examples.py b/examples/test_all_examples.py
@@ -28,7 +28,7 @@
 
 _all_examples = [
     "./bicycle/bicycle.py",
-    #"./bicycle/bicycle_exploration_with_rrt.py", # Broken, seems to run forever
+    "./bicycle/bicycle_exploration_with_rrt.py", 
     "./bicycle/bicycle_parallel_parking_with_rrt.py",
     "./cartpole/cartpole_natural_behavior.py",
     "./cartpole/cartpole_with_computed_torque.py",
@@ -39,7 +39,7 @@
     "./double_pendulum/double_pendulum.py",
     "./double_pendulum/double_pendulum_with_computed_torque.py",
     "./double_pendulum/double_pendulum_with_rrt.py",
-    #"./double_pendulum/double_pendulum_with_rrt_and_computed_torque.py", # Missing class
+    "./double_pendulum/double_pendulum_with_rrt_and_computed_torque.py",
     "./double_pendulum/double_pendulum_with_sliding_mode.py",
     "./double_pendulum/double_pendulum_with_trajectory_following_computed_torque.py",
     "./double_pendulum/double_pendulum_with_trajectory_following_open_loop_controller.py",
@@ -64,7 +64,7 @@
     "./simple_pendulum/custom_simple_pendulum.py",
     "./simple_pendulum/simple_pendulum_with_computed_torque.py",
     "./simple_pendulum/simple_pendulum_with_open_loop_controller.py",
-    #"./simple_pendulum/simple_pendulum_with_pid.py", # Missing class
+    "./simple_pendulum/simple_pendulum_with_pid.py",
     "./simple_pendulum/simple_pendulum_with_rrt.py",
     "./simple_pendulum/simple_pendulum_with_sliding_mode_controller.py",
     "./simple_pendulum/simple_pendulum_with_trajectory_following_computed_torque.py",