Revision 1822
don't even know
| evolveRobots.m | ||
|---|---|---|
| 1 | 1 |
% n robots |
| 2 | 2 |
% Robot #1 is the queen |
| 3 |
n = 13;
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| 3 |
n = 15;
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| 4 | 4 |
%for movie output use: |
| 5 |
dt = 0.041709;
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| 5 |
dt = 0.041709; |
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| 6 | 6 |
%else: |
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%dt = .01;
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| 7 |
%dt = .1; |
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| 8 | 8 |
tf = 20 %40; |
| 9 | 9 |
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| 10 | 10 |
|
| ... | ... | |
| 19 | 19 |
numsteps = ceil(tf / dt) + 1; |
| 20 | 20 |
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| 21 | 21 |
%%% output options |
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makeMovie = false;
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showPlots = true;
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makeMovie = true;
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showPlots = false;
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| 24 | 24 |
doFeedback = true; |
| 25 | 25 |
shape = 1; |
| 26 | 26 |
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| 27 | 27 |
if shape == 1 |
| 28 | 28 |
n = 65; |
| 29 |
elseif shape < 4
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| 29 |
elseif shape == 2
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| 30 | 30 |
n = 65; |
| 31 |
elseif shape == 3 |
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| 32 |
n = 65; |
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| 31 | 33 |
elseif shape == 4 |
| 32 | 34 |
n = 65; |
| 33 | 35 |
elseif shape == 5 |
| ... | ... | |
| 56 | 58 |
% if we aren't doing feedback just pick random speeds for everyone so |
| 57 | 59 |
% we can see some open loop motion |
| 58 | 60 |
%HACK |
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V(2,:) = 2; |
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| 60 |
for i=3:n
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X(i,1) = rand*10 - 5; |
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Y(i,1) = rand*10 - 5;
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V(i,:) = rand*10;
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W(i,:) = rand*2*pi;
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%V(2,:) = 2;
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for i=2:n
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%X(i,1) = rand*10 - 5;
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Y(i,1) = -2.5;
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| 65 |
V(i,:) = 6;
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W(i,:) = 2.5;
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| 65 | 67 |
end |
| 66 | 68 |
else |
| 67 | 69 |
|
| ... | ... | |
| 158 | 160 |
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| 159 | 161 |
color = hsv(n); |
| 160 | 162 |
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encoderNoise = 3 * randn(2, n);
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encoderNoise = .01 * randn(2, n);
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| 162 | 164 |
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| 163 | 165 |
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| 164 | 166 |
% The things that end in s are the sensor values |
| ... | ... | |
| 232 | 234 |
if showPlots |
| 233 | 235 |
figure; |
| 234 | 236 |
hold on; |
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title('true X vs. sensed X');
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%title('true X vs. sensed X');
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| 236 | 238 |
% plot(1:idx-1, X(1,:),1:idx-1, Xs(1,:)) |
| 237 |
plot(1:idx-1, X(2,:),1:idx-1, Xs(2,:)) |
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| 239 |
%plot(1:idx-1, X(2,:) - Xs(2,:),1:idx-1, ) |
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| 240 |
%legend('true x', 'sensed x')
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title('Error');
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% plot(1:idx-1, X(1,:),1:idx-1, Xs(1,:)) |
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| 244 |
for i=2:n |
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plot(0:dt:(tf+dt), abs(X(i,:)) .* abs(Y(i,:)) - abs(Xs(i,:)) .* abs(Ys(i,:))) |
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end |
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%legend('true x', 'sensed x')
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| 238 | 248 |
end |
| 239 | 249 |
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| 240 | 250 |
if makeMovie |
| 241 | 251 |
disp('making movie...');
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movie2avi(mov,'movie.avi'); |
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movie2avi(mov,'movie.avi', 'fps', 23.976);
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| 243 | 253 |
disp('movie.avi created!');
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| 244 | 254 |
end |
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