From bf5b728050a373b8db59ad70df3651e104ebea42 Mon Sep 17 00:00:00 2001 From: mpboyer Date: Mon, 13 Jan 2025 19:53:15 +0100 Subject: [PATCH] =?UTF-8?q?j'ai=20cr=C3=A9=C3=A9=20le=20temps?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- simulator.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/simulator.py b/simulator.py index 4a3ab52..c192e63 100644 --- a/simulator.py +++ b/simulator.py @@ -1,6 +1,7 @@ import socket import os import typing +import time import numpy as np from sympy.abc import alpha @@ -28,6 +29,7 @@ class NaiveSimulator(Simulator): speed = np.array([0., 0., 0.]) time_step = 0 + last_update = 0. # X_STEPS_PER_INCH = 4800 X_STEPS_PER_MM: float = 188.97 @@ -43,6 +45,7 @@ class NaiveSimulator(Simulator): def __init__(self, bind): super().__init__(bind) + self.last_update = time.time() while True: self.loop() @@ -64,6 +67,9 @@ class NaiveSimulator(Simulator): def realize(self): print("MA VIE C'EST DE LA MERDE") + lt = time.time() + self.time_step = lt - self.last_update + self.last_update = lt x_v = parse_speed(socket.SocketIO(self.s, 'r').readline()) y_v = parse_speed(socket.SocketIO(self.s, 'r').readline()) z_v = parse_speed(socket.SocketIO(self.s, 'r').readline())