private void setHandPositionButton_Click(object sender, EventArgs e)
{
UnityCommunicationHub.ReadData(true);
SetPoint newPoint = new SetPoint
{
A1Position = Globals.A1DesiredPosition,
A2Position = Globals.A2DesiredPosition,
A3Position = Globals.A3DesiredPosition,
B1Position = Globals.B1DesiredPosition,
B2Position = Globals.B2DesiredPosition,
B3Position = Globals.B3DesiredPosition,
C1Position = Globals.C1DesiredPosition,
C2Position = Globals.C2DesiredPosition,
C3Position = Globals.C3DesiredPosition,
D1Position = Globals.D1DesiredPosition,
D2Position = Globals.D2DesiredPosition,
D3Position = Globals.D3DesiredPosition,
T1Position = Globals.T1DesiredPosition,
T2Position = Globals.T2DesiredPosition
};
controls.allNodes[(int)activeNode.Tag].setHandPosition(newPoint);
}
private void Test()
{
lock (dataLock)
{
//var input = serial.GetData();
//UnityCommunicationHub.ReadData();
//var percievedPositionArray = net.Think(input);
//inputTrainingData.Add(input);
//outputTrainingData.Add(Globals.GetDoubles());
//for (int i = 0; i < percievedPositionArray.Length; i++)
//{
// percievedPositionArray[i] = percievedPositionArray[i] * 90;
//}
//Globals.T1DesiredPosition = (float)percievedPositionArray[0];
//Globals.T2DesiredPosition = (float)percievedPositionArray[1];
//Globals.A1DesiredPosition = (float)percievedPositionArray[2];
//Globals.A2DesiredPosition = (float)percievedPositionArray[3];
//Globals.A3DesiredPosition = (float)percievedPositionArray[4];
//Globals.B1DesiredPosition = (float)percievedPositionArray[5];
//Globals.B2DesiredPosition = (float)percievedPositionArray[6];
//Globals.B3DesiredPosition = (float)percievedPositionArray[7];
//Globals.C1DesiredPosition = (float)percievedPositionArray[8];
//Globals.C2DesiredPosition = (float)percievedPositionArray[9];
//Globals.C3DesiredPosition = (float)percievedPositionArray[10];
//Globals.D1DesiredPosition = (float)percievedPositionArray[11];
//Globals.D2DesiredPosition = (float)percievedPositionArray[12];
//Globals.D3DesiredPosition = (float)percievedPositionArray[13];
var percievedPosition = new SetPoint(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
var rand = new Random();
//UnityCommunicationHub.WriteData(true);
var percievedPositionArray = new double[7];
if (inputTrainingData.Count != 0)
{
percievedPositionArray = net.Think(inputTrainingData[inputTrainingData.Count - 1]);
double bestVal = 0;
SetPoint bestSetPoint = new SetPoint();
for (int i = 0; i < percievedPositionArray.Length; i++)
{
if (percievedPositionArray[i] > bestVal)
{
bestVal = percievedPositionArray[i];
bestSetPoint = setPointList[i];
}
}
if (lastSetPoint.Equals(bestSetPoint))
{
percievedPosition = setPointList[rand.Next(0, 7)];
}
else
{
percievedPosition = bestSetPoint;
}
}
else
{
percievedPosition = setPointList[rand.Next(0, 7)];
}
if (positionsToVisit.Count > 0)
{
percievedPosition = setPointList[positionsToVisit.First()];
for (int i = 0; i < 7; i++)
{
if ((7 - i) == positionsToVisit.Count)
{
percievedPositionArray[i] = 1;
}
}
positionsToVisit.RemoveAt(0);
}
Globals.T1DesiredPosition = percievedPosition.T1Position;
Globals.T2DesiredPosition = percievedPosition.T2Position;
Globals.A1DesiredPosition = percievedPosition.A1Position;
Globals.A2DesiredPosition = percievedPosition.A2Position;
Globals.A3DesiredPosition = percievedPosition.A3Position;
Globals.B1DesiredPosition = percievedPosition.B1Position;
Globals.B2DesiredPosition = percievedPosition.B2Position;
Globals.B3DesiredPosition = percievedPosition.B3Position;
Globals.C1DesiredPosition = percievedPosition.C1Position;
Globals.C2DesiredPosition = percievedPosition.C2Position;
Globals.C3DesiredPosition = percievedPosition.C3Position;
Globals.D1DesiredPosition = percievedPosition.D1Position;
Globals.D2DesiredPosition = percievedPosition.D2Position;
Globals.D3DesiredPosition = percievedPosition.D3Position;
UnityCommunicationHub.WriteData(true);
lastSetPoint = percievedPosition;
Thread.Sleep(200);
for (int i = 0; i < 250; i++)
{
var input = serial.GetData();
double[] inputData = new double[8];
for (int j = 0; j < 8; j++)
{
inputData[j] = input[j];
}
UnityCommunicationHub.ReadData();
inputTrainingData.Add(inputData);
outputTrainingData.Add(percievedPositionArray);
Thread.Sleep(1);
}
}
}
