pid_visualization.ipynb

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    "from simple_pid import *"
   ]
  },
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       "            var render_items = [{\"docid\":\"d6de630e-3cdd-42ef-bc03-dc35b75da179\",\"elementid\":\"081e43ed-4e88-447f-bc05-17d0039a853a\",\"modelid\":\"22d2130b-1019-43ce-ba6a-fe857089ce90\",\"notebook_comms_target\":\"045d2c74-855c-4648-aae3-71cc7e9c4d45\"}];\n",
       "            \n",
       "            Bokeh.embed.embed_items(docs_json, render_items);\n",
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       "      function(Bokeh) {\n",
       "      }\n",
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       "      if ((window.Bokeh !== undefined) || (force === true)) {\n",
       "        for (var i = 0; i < inline_js.length; i++) {\n",
       "          inline_js[i](window.Bokeh);\n",
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       "      } else if (!window._bokeh_failed_load) {\n",
       "        console.log(\"Bokeh: BokehJS failed to load within specified timeout.\");\n",
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       "    if (window._bokeh_is_loading === 0) {\n",
       "      console.log(\"Bokeh: BokehJS loaded, going straight to plotting\");\n",
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       "model_id": "5bb80ed8b68a43bb9f46023d6f3be52e"
      }
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    {
     "data": {
      "text/plain": [
       "<function __main__.update>"
      ]
     },
     "execution_count": 2,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from bokeh.plotting import figure\n",
    "from bokeh.models import ColumnDataSource, Range1d\n",
    "from ipywidgets import interact\n",
    "from bokeh.io import push_notebook, show, output_notebook\n",
    "output_notebook()\n",
    "\n",
    "##############################################################\n",
    "\n",
    "def get_positions(car_history):\n",
    "    \n",
    "  xs, ys, thetas = [], [], []\n",
    "    \n",
    "  for car in car_history:\n",
    "    xs.append(car.x)\n",
    "    ys.append(car.y)\n",
    "    thetas.append(car.theta + pi)\n",
    "    \n",
    "  return xs, ys, thetas\n",
    "\n",
    "##############################################################\n",
    "\n",
    "my_position = {'x': 0., 'y': 10., 'theta': 0.}\n",
    "my_settings = {'tolerance': 0.001, \n",
    "                'length': 20.,\n",
    "                'max_steering': pi / 4.,\n",
    "                'steering_drift': 10. * pi / 180.,\n",
    "                'steering_noise': pi / 100.,\n",
    "                'speed_noise': 0.01\n",
    "                }\n",
    "\n",
    "car_history, error_history = follow_line(tp = 0.2 , ti = 0.004 , td = 3.0 , n = 300, \n",
    "                                 car_settings = my_settings, initial_position = my_position)\n",
    "\n",
    "xs, ys, thetas = get_positions(car_history)\n",
    "\n",
    "##############################################################\n",
    "\n",
    "source = ColumnDataSource(data = {\n",
    "    'x' : xs,\n",
    "    'y' : ys, \n",
    "    'theta' : thetas\n",
    "})\n",
    "\n",
    "p = figure(plot_width = 1000, plot_height = 500)\n",
    "\n",
    "plot_car = p.inverted_triangle(\n",
    "    'x', 'y', \n",
    "    size = 5, \n",
    "    fill_color = \"violet\",\n",
    "    line_color = \"violet\",\n",
    "    fill_alpha = 0.10,\n",
    "    line_width = 1,\n",
    "    angle = 'theta',\n",
    "    legend = \"car\", \n",
    "    source = source)\n",
    "    \n",
    "p.x_range = Range1d(0, 300)\n",
    "p.y_range = Range1d(-15, 15)\n",
    "\n",
    "##############################################################\n",
    "\n",
    "def update(p, i, d):\n",
    "    \n",
    "  my_position = {'x': 0., 'y': 10., 'theta': 0.}\n",
    "  my_settings = {'tolerance': 0.001, \n",
    "                'length': 20.,\n",
    "                'max_steering': pi / 4.,\n",
    "                'steering_drift': 10. * pi / 180.,\n",
    "                'steering_noise': pi / 100.,\n",
    "                'speed_noise': 0.01\n",
    "                }\n",
    "\n",
    "  car_history, error_history = follow_line(tp = p , ti = i , td = d , n = 300, \n",
    "                                 car_settings = my_settings, initial_position = my_position)\n",
    "\n",
    "  xs, ys, thetas = get_positions(car_history)\n",
    "  plot_car.data_source.data['x'] = xs\n",
    "  plot_car.data_source.data['y'] = ys\n",
    "  plot_car.data_source.data['theta'] = thetas\n",
    "  \n",
    "  print(\"tp:\", p)\n",
    "  print(\"ti:\", i)\n",
    "  print(\"td:\", d)\n",
    "  print(\"last error:\", error_history[-1])\n",
    "  print(\"average error of last 100 steps:\", sum(error_history[-100:]) / 100)\n",
    "  print (\"average error\", sum(error_history) / len(error_history))\n",
    "  push_notebook()\n",
    "    \n",
    "##############################################################\n",
    "\n",
    "show(p, notebook_handle = True)\n",
    "interact(update, p = (0., 1., 0.005), i = (0., 0.01, 0.00005) , d = (0, 6., 0.025))"
   ]
  }
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