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# Load in saved weights from offline training
# Inputs are the two front sensor readings
# Output is a translate value, used to control the robot
from pyrobot.brain import Brain
from pyrobot.brain.conx import *
from time import *
class NNBrain(Brain):
def setup(self):
self.n = Network()
self.n.addLayers(2,1,1)
self.maxvalue = self.robot.range.getMaxvalue()
self.doneLearning = 1
self.n.loadWeightsFromFile("E05M01.wts")
self.n.setLearning(0)
def scale(self, val):
x = val / self.maxvalue
if x > 1:
return 1.0
else:
return x
def step(self):
# Set inputs
front = [s.distance() for s in self.robot.range["front"]]
self.n['input'].copyActivations([self.scale(front[0]),
self.scale(front[1])])
self.n.propagate()
translateActual = self.n['output'].activation[0]
print "move", translateActual
self.translate(translateActual)
def INIT(engine):
return NNBrain('NNBrain', engine) |
