1 files changed, 113 insertions, 0 deletions
diff --git a/2017/ev3-controller/nn_driver.py b/2017/ev3-controller/nn_driver.py
new file mode 100644
index 0000000..b03c125
--- /dev/null
+++ b/2017/ev3-controller/nn_driver.py
@@ -0,0 +1,113 @@
+import numpy as np
+from EV3Robot import *
+
+robot = Robot()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+#syn0, syn1=train()
+
+#syn0 = [[-0.05111396, -0.65152816],
+ #[-0.60031302, -0.42462132],
+ #[-0.61138226, -0.94931736],
+ #[-0.54869344, -1.05984886],
+ #[ 0.01826786,  0.24129794],
+ #[ 0.14427619, -0.29771331],
+ #[-0.74305135,  0.076575  ],
+ #[-0.08188871, -0.31810276],
+ #[-0.26736444,  0.20061916],
+ #[-1.58011504, -1.44969247],
+ #[-0.47182455,  2.43261639],
+ #[ 2.17045716, -1.52101072]],
+
+#syn1 = [[ -3.47021005, -61.89030242,  12.78322924],
+ #[ -2.8108547,  22.64381972, -65.90059129]]
+
+syn0 = [[-0.22387899,  0.0272135 ],
+ [-0.53776054, -0.36374634],
+ [-0.61603734, -0.48518088],
+ [-0.57052126, -0.56987098],
+ [ 0.2442093,   0.23051107],
+ [-0.17470505,  0.42684878],
+ [-0.53413718,  0.49524244],
+ [-0.49455046,  0.49381262],
+ [-0.17848447,  0.17378944],
+ [-0.84917023, -1.20753232],
+ [ 2.3610183,   0.48650416],
+ [-1.5081981,   1.38669447]]
+
+syn1 = [[ -1.50414787,  17.11258305, -19.87962655],
+ [ -1.63558919, -16.87799893,   3.60433587]]
+
+print("get train data",syn0)
+print(syn1)
+
+
+def nonlin(x, deriv=False):
+    if (deriv == True):
+        return x * (1 - x)
+
+    return 1 / (1 + np.exp(-x))
+
+def calculate_output(syn0, syn1, l0):
+    l1 = nonlin(np.dot(l0, syn0))
+    l2 = nonlin(np.dot(l1, syn1))
+    return l2
+
+def run1(speed):
+    previous = []
+
+    while(1):
+        #check the state
+        state_1 = get_state()
+        #action taken according to maximum value of q table in color column
+        if(previous==[]):
+            action=1
+
+        #get action from
+       # action = np.argmax(q,axis=0)[state_1]
+        else:
+            vector=toBinary(previous)
+            current=[0,0,0]
+            current[int(state_1)]=1
+            input=np.append(vector, current)
+
+            l2 = calculate_output(syn0, syn1, [input])
+
+
+            action=np.argmax(l2)
+        # do the action
+        do_action(action, speed)
+
+        state_2=get_state()
+        previous=[state_1, state_2, action]
+
+def toBinary(set):
+    vector = np.zeros((9,), dtype=np.int)
+    vector[int(set[0])] = vector[int(set[1]) + 3] = vector[int(set[2]) + 6] = 1;
+    return vector
+
+
+def bgw(isee, follow_color=50, grey_zone=25):
+    if isee < follow_color - grey_zone: # BLACK
+        return 0
+    elif isee > follow_color + grey_zone: # WHITE
+        return 1
+    else: # move forward if in the grey zone
+        return 2
+
+def get_state():
+    isee = robot.color_sensor_measure('reflected_light_intensity')
+    color = bgw(isee)
+    return color
+
+def do_action(action, speed):
+    if action == 0:
+        robot.move(0,speed) #left
+    elif action == 1:
+        robot.move(speed, 0) #right
+    elif action == 2:
+        robot.move(speed, speed) #forward
+
+run1(40)
+\ No newline at end of file