Merge Development 20.11.2024

Driver/DriverFunctions/cartpole_simulator_batched.py

@@ -24,7 +24,7 @@ class cartpole_simulator_batched(EnvironmentBatched, CartPoleEnv_LTC):
     num_states = 6
 
     def __init__(
-        self, batch_size=1, computation_lib=NumpyLibrary, render_mode="human", **kwargs
+        self, batch_size=1, computation_lib=NumpyLibrary(), render_mode="human", **kwargs
     ):
         self._batch_size = batch_size
         self._actuator_noise = np.array(kwargs["actuator_noise"], dtype=np.float32)

Driver/DriverFunctions/main_logging_manager.py

@@ -6,8 +6,8 @@
 from CartPoleSimulation.CartPole.state_utilities import ANGLE_IDX, ANGLE_COS_IDX, ANGLE_SIN_IDX, ANGLED_IDX, \
     POSITION_IDX, POSITIOND_IDX
 
-from CartPoleSimulation.CartPole.data_manager import DataManager
-from CartPoleSimulation.CartPole.csv_logger import create_csv_file_name
+from SI_Toolkit.General.data_manager import DataManager
+from CartPoleSimulation.CartPole.csv_logger import create_csv_file_name, create_csv_file
 from DriverFunctions.csv_helpers import create_csv_header, create_csv_title
 
 from globals import (
@@ -67,7 +67,7 @@ def __init__(self, driver):
         self.data_to_save_measurement = {}
         self.data_to_save_controller = {}
 
-        self.data_manager = DataManager()
+        self.data_manager = DataManager(create_csv_file)
 
         self.csv_name = None
         self.recording_length = np.inf

Driver/globals.py

@@ -35,13 +35,13 @@
     # The other two shift (additive) to account for friction indep. of speed (separate for pos and neg Q)
     # Only applied if CORRECT_MOTOR_DYNAMICS is True
     MOTOR_CORRECTION_ORIGINAL = (0.63855139, 0.11653139, 0.11653139)
-    MOTOR_CORRECTION_POLOLU = (0.595228, 0.0323188, 0.0385016)
+    MOTOR_CORRECTION_POLOLU = (0.5733488, 0.0257380, 0.0258429)
     # The 12-bit ADC has a range of 4096 units
     # However due to potentiometer dead angle these 4096 units are mapped on less than full circle
     # The full circle in adc units was determined
     # by readout difference between up and down position on the side not including dead angle
     ANGLE_360_DEG_IN_ADC_UNITS = 4271.34
-    ANGLE_HANGING_POLOLU = 1028.579  # Value from sensor when pendulum is at stable equilibrium point
+    ANGLE_HANGING_POLOLU = 1000  # Value from sensor when pendulum is at stable equilibrium point
     ANGLE_HANGING_ORIGINAL = 910.0  # Value from sensor when pendulum is at stable equilibrium point
     POSITION_ENCODER_RANGE = 4164  # This is an empirical approximation
 elif CHIP == 'ZYNQ':