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December 8, 2022 12:59
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Reinforcement learning ev3 - final
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| import time | |
| import random | |
| from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, MoveTank, SpeedPercent | |
| from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4 | |
| from ev3dev2.sensor.lego import UltrasonicSensor | |
| from ev3dev2.sound import Sound | |
| SPEED = 20 | |
| DRIVE_TIME = 1 | |
| DO_NOTHING = 0 | |
| STEP_BACKWARD = 1 | |
| STEP_FORWARD = 2 | |
| STEP_RIGHT = 3 | |
| STEP_LEFT = 4 | |
| def step_forward(tank): | |
| tank.on_for_seconds(SpeedPercent(SPEED), SpeedPercent(SPEED), DRIVE_TIME) | |
| def step_backward(tank): | |
| tank.on_for_seconds(SpeedPercent(-SPEED), SpeedPercent(-SPEED), DRIVE_TIME) | |
| def step_left(tank): | |
| tank.on_for_seconds(SpeedPercent(-SPEED), SpeedPercent(SPEED), DRIVE_TIME) | |
| def step_right(tank): | |
| tank.on_for_seconds(SpeedPercent(SPEED), SpeedPercent(-SPEED), DRIVE_TIME) | |
| def do_nothing(): | |
| time.sleep(2) | |
| def calculate_reward(prev_distance, curr_distance): | |
| if curr_distance <= 70 or curr_distance > 220: | |
| return -50 | |
| elif curr_distance < prev_distance: | |
| return 1 | |
| elif curr_distance > prev_distance: | |
| return -5 | |
| else: | |
| return -5 | |
| def calculate_action_values(rewards, action_counts): | |
| # create a list of action values with 0 set to each | |
| action_values = [0 for _ in range(len(rewards))] | |
| # action value = rewards / action_count | |
| for i in range(len(rewards)): | |
| action_values[i] = 0 if action_counts[i] == 0 else rewards[i]/action_counts[i] | |
| return action_values | |
| def main(): | |
| tank_drive = MoveTank(OUTPUT_A, OUTPUT_B) | |
| ultrasonic = UltrasonicSensor(INPUT_2) | |
| sound = Sound() | |
| # sound.beep() | |
| cycle = 0 | |
| # NC B F. R L | |
| rewards = [0, 0, 0, 0, 0] | |
| action_counts = [0, 0, 0, 0, 0] | |
| # number of time i want to robot to explore vs exploite | |
| # explore - figute out new things about the environment | |
| epsilon = 0.05 | |
| prev_distance = ultrasonic.distance_centimeters | |
| while True: | |
| cycle = cycle + 1 | |
| print('-----[ ' + str(cycle) +' ]-----') | |
| # no action selected | |
| action=None | |
| # draw a random number 0..1 to choose explore or exploite | |
| rand = random.random() | |
| print('random: '+str(rand)) | |
| if rand < epsilon: # epsilon greedy | |
| # explore | |
| action = random.randint(0,4) # 0,1,2 actions | |
| else: | |
| # exploite | |
| action_values = calculate_action_values(rewards, action_counts) | |
| max_ac_value = max(action_values) | |
| print('max action value: '+str(max_ac_value)) | |
| action = action_values.index(max_ac_value) | |
| print('action selected index: '+str(action)) | |
| if action == DO_NOTHING: | |
| do_nothing() | |
| elif action == STEP_BACKWARD: | |
| step_backward(tank_drive) | |
| elif action == STEP_FORWARD: | |
| step_forward(tank_drive) | |
| elif action == STEP_RIGHT: | |
| step_right(tank_drive) | |
| elif action == STEP_LEFT: | |
| step_left(tank_drive) | |
| print('Action: ' + str(action)) | |
| curr_distance = ultrasonic.distance_centimeters | |
| print('Distance: ' + str(curr_distance)) | |
| reward = calculate_reward(prev_distance, curr_distance) | |
| rewards[action] = rewards[action] + reward | |
| action_counts[action] = action_counts[action] + 1 | |
| prev_distance = curr_distance | |
| print('NC, B, F, R, L') | |
| print('rewards:') | |
| print(*rewards) | |
| print('action counts:') | |
| print(*action_counts) | |
| time.sleep(0.5) | |
| if __name__ == '__main__': | |
| print('starting !') | |
| main() |
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| import time | |
| import random | |
| from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, MoveTank, SpeedPercent | |
| from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4 | |
| from ev3dev2.sensor.lego import UltrasonicSensor | |
| from ev3dev2.sound import Sound | |
| SPEED = 20 | |
| DRIVE_TIME = 1 | |
| def step_forward(tank): | |
| tank.on_for_seconds(SpeedPercent(SPEED), SpeedPercent(SPEED), DRIVE_TIME) | |
| def step_backward(tank): | |
| tank.on_for_seconds(SpeedPercent(-SPEED), SpeedPercent(-SPEED), DRIVE_TIME) | |
| def step_left(tank): | |
| tank.on_for_seconds(SpeedPercent(-SPEED), SpeedPercent(SPEED), DRIVE_TIME) | |
| def step_right(tank): | |
| tank.on_for_seconds(SpeedPercent(SPEED), SpeedPercent(-SPEED), DRIVE_TIME) | |
| def do_nothing(): | |
| time.sleep(2) | |
| def main(): | |
| tank_drive = MoveTank(OUTPUT_A, OUTPUT_B) | |
| sound = Sound() | |
| sound.beep() | |
| # do_nothing() | |
| # step_backward(tank_drive) | |
| # step_forward(tank_drive) | |
| # step_right(tank_drive) | |
| # step_left(tank_drive) | |
| if __name__ == '__main__': | |
| print('starting !') | |
| main() |
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| import time | |
| import random | |
| from ev3dev2.motor import LargeMotor, OUTPUT_A, OUTPUT_B, MoveTank, SpeedPercent | |
| from ev3dev2.sensor import INPUT_1, INPUT_2, INPUT_3, INPUT_4 | |
| from ev3dev2.sensor.lego import UltrasonicSensor | |
| from ev3dev2.sound import Sound | |
| SPEED = 20 | |
| DRIVE_TIME = 1 | |
| DO_NOTHING = 0 | |
| STEP_BACKWARD = 1 | |
| STEP_FORWARD = 2 | |
| STEP_RIGHT = 3 | |
| STEP_LEFT = 4 | |
| def step_forward(tank): | |
| tank.on_for_seconds(SpeedPercent(SPEED), SpeedPercent(SPEED), DRIVE_TIME) | |
| def step_backward(tank): | |
| tank.on_for_seconds(SpeedPercent(-SPEED), SpeedPercent(-SPEED), DRIVE_TIME) | |
| def step_left(tank): | |
| tank.on_for_seconds(SpeedPercent(-SPEED), SpeedPercent(SPEED), DRIVE_TIME) | |
| def step_right(tank): | |
| tank.on_for_seconds(SpeedPercent(SPEED), SpeedPercent(-SPEED), DRIVE_TIME) | |
| def do_nothing(): | |
| time.sleep(2) | |
| def calculate_reward(prev_distance, curr_distance): | |
| # | |
| # add your code here. <<<<<<<<<========== | |
| # | |
| return xxxx | |
| def calculate_action_values(rewards, action_counts): | |
| # create a list of action values with 0 set to each | |
| action_values = [0 for _ in range(len(rewards))] | |
| # action value = rewards / action_count | |
| for i in range(len(rewards)): | |
| action_values[i] = 0 if action_counts[i] == 0 else rewards[i]/action_counts[i] | |
| return action_values | |
| def main(): | |
| tank_drive = MoveTank(OUTPUT_A, OUTPUT_B) | |
| ultrasonic = UltrasonicSensor(INPUT_2) | |
| sound = Sound() | |
| sound.beep() | |
| cycle = 0 | |
| # NC B F. R L | |
| rewards = [0, 0, 0, 0, 0] | |
| action_counts = [0, 0, 0, 0, 0] | |
| # number of time i want to robot to explore vs exploite | |
| # explore - figute out new things about the environment | |
| epsilon = 0.05 | |
| prev_distance = ultrasonic.distance_centimeters | |
| while True: | |
| cycle = cycle + 1 | |
| print('-----[ ' + str(cycle) +' ]-----') | |
| # no action selected | |
| action=None | |
| # draw a random number 0..1 to choose explore or exploite | |
| rand = random.random() | |
| print('random: '+str(rand)) | |
| if rand < epsilon: # epsilon greedy | |
| # explore | |
| action = random.randint(0,4) # 0,1,2 actions | |
| else: | |
| # exploite | |
| action_values = calculate_action_values(rewards, action_counts) | |
| max_ac_value = max(action_values) | |
| print('max action value: '+str(max_ac_value)) | |
| action = action_values.index(max_ac_value) | |
| print('action selected index: '+str(action)) | |
| if action == DO_NOTHING: | |
| do_nothing() | |
| elif action == STEP_BACKWARD: | |
| step_backward(tank_drive) | |
| elif action == STEP_FORWARD: | |
| step_forward(tank_drive) | |
| elif action == STEP_RIGHT: | |
| step_right(tank_drive) | |
| elif action == STEP_LEFT: | |
| step_left(tank_drive) | |
| print('Action: ' + str(action)) | |
| curr_distance = ultrasonic.distance_centimeters | |
| print('Distance: ' + str(curr_distance)) | |
| reward = calculate_reward(prev_distance, curr_distance) | |
| rewards[action] = rewards[action] + reward | |
| action_counts[action] = action_counts[action] + 1 | |
| prev_distance = curr_distance | |
| print('NC, B, F, R, L') | |
| print('rewards:') | |
| print(*rewards) | |
| print('action counts:') | |
| print(*action_counts) | |
| time.sleep(0.5) | |
| if __name__ == '__main__': | |
| print('starting !') | |
| main() |
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