diff --git a/notebooks/demodemo.ipynb b/notebooks/demodemo.ipynb new file mode 100644 index 00000000..df76b8b3 --- /dev/null +++ b/notebooks/demodemo.ipynb @@ -0,0 +1,137 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "a4aa4c1b", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Import successful!\n", + "Project Root: c:\\Users\\jsntg\\OneDrive\\Desktop\\B1\\B1P1\\B1P1main\n" + ] + } + ], + "source": [ + "# Unit1: Importing Necessary Modules\n", + "import sys\n", + "import os\n", + "\n", + "# Importing Project Root to Python Path\n", + "project_root = os.path.abspath(os.path.join(os.getcwd(), '..'))\n", + "sys.path.append(project_root)\n", + "\n", + "# Imporrting from uuv_mission\n", + "from uuv_mission.dynamic import Submarine, Mission, ClosedLoop\n", + "from uuv_mission.controller import PDController\n", + "import matplotlib.pyplot as plt\n", + "\n", + "print(\"Import successful!\")\n", + "print(f\"Project Root: {project_root}\")" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "7af89d90", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Creation successful!\n" + ] + } + ], + "source": [ + "# Unit2: Creating Controller and System Objects\n", + "# Provided values\n", + "controller = PDController(Kp=0.15, Kd=0.6)\n", + "sub = Submarine()\n", + "closed_loop = ClosedLoop(sub, controller)\n", + "\n", + "print(\"Creation successful!\")" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "92d3196f", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Load successful!\n", + "Duration: 100 steps\n" + ] + } + ], + "source": [ + "# Unit3: Loading Mission Data\n", + "mission = Mission.from_csv(\"../data/mission.csv\")\n", + "print(f\"Load successful!\")\n", + "print(f\"Duration: {len(mission.reference)} steps\")" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "id": "9d09ae32", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Simulation successful!\n" + ] + }, + { + "data": { + "image/png": "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", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# Unit4: Run Simulation\n", + "trajectory = closed_loop.simulate_with_random_disturbances(mission, variance=0.5)\n", + "print(\"Simulation successful!\")\n", + "\n", + "# Unit5: Plot Results\n", + "trajectory.plot_completed_mission(mission)" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "venv", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/uuv_mission/controller.py b/uuv_mission/controller.py new file mode 100644 index 00000000..652c3ed0 --- /dev/null +++ b/uuv_mission/controller.py @@ -0,0 +1,26 @@ +import numpy as np + +class PDController: + + def __init__(self, Kp: float = 0.15, Kd: float = 0.6): # Provided values + self.Kp = Kp + self.Kd = Kd + self.previous_error = 0.0 # Provided value + self.is_first_step = True + + def compute_control_action(self, current_error: float) -> float: + proportional = self.Kp * current_error + + if self.is_first_step: + derivative = 0.0 + self.is_first_step = False + else: + derivative = self.Kd * (current_error - self.previous_error) + + control_action = proportional + derivative + self.previous_error = current_error + return control_action + + def reset(self): + self.previous_error = 0.0 + self.is_first_step = True diff --git a/uuv_mission/dynamic.py b/uuv_mission/dynamic.py index c7c7ad53..35d03041 100644 --- a/uuv_mission/dynamic.py +++ b/uuv_mission/dynamic.py @@ -1,6 +1,10 @@ from __future__ import annotations from dataclasses import dataclass import numpy as np + +# !!! NEW CODE !!! +import pandas as pd + import matplotlib.pyplot as plt from .terrain import generate_reference_and_limits @@ -76,7 +80,13 @@ def random_mission(cls, duration: int, scale: float): @classmethod def from_csv(cls, file_name: str): # You are required to implement this method - pass + + # !!! NEW CODE !!! + df = pd.read_csv(file_name) + reference = df['reference'].to_numpy() + cave_height = df['cave_height'].to_numpy() + cave_depth = df['cave_depth'].to_numpy() + return cls(reference, cave_height, cave_depth) class ClosedLoop: @@ -96,8 +106,17 @@ def simulate(self, mission: Mission, disturbances: np.ndarray) -> Trajectory: for t in range(T): positions[t] = self.plant.get_position() - observation_t = self.plant.get_depth() + + # !!! CHANGED CODE !!! + current_depth = self.plant.get_depth() + # Call your controller here + + # !!! NEW CODE !!! + current_error = mission.reference[t] - current_depth + control_action = self.controller.compute_control_action(current_error) + actions[t] = control_action + self.plant.transition(actions[t], disturbances[t]) return Trajectory(positions)