Merge pull request #259 from upb-lea/update_gem_controllers

Update gem controllers

CHANGELOG.md

@@ -21,6 +21,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Dropped support for Python 3.8
 - Linted and formatted all files
 - Changed max. steps in some test files to improve test speed by 30%
+- Changed the syntax from gem_controller.py to be compatible with the gymnasium interface
 ## Fixed
 - #244 Sphinx docu build
 - #233 EESM ODE update

examples/gem_controllers/example.py

@@ -0,0 +1,37 @@
+import gym_electric_motor as gem
+import gem_controllers as gc
+from gym_electric_motor.physical_system_wrappers import FluxObserver
+
+
+
+if __name__ == '__main__':
+
+    # choose the action space
+    action_space = 'Cont'   # 'Cont' or 'Finite'
+
+    # choose the control task
+    control_task = 'CC'     # 'SC' (speed control), 'TC' (torque control) or 'CC' (current control)
+
+    # chosse the motor type
+    motor_type = 'PMSM'     # 'PermExDc', 'ExtExDc', 'SeriesDc', 'ShuntDc', 'PMSM', 'EESM', 'SynRM' or 'SCIM'
+
+    env_id = action_space + '-' + control_task + '-' + motor_type + '-v0'
+
+    # using a flux observer for the SCIM
+    physical_system_wrappers = (FluxObserver(),) if motor_type == 'SCIM' else ()
+
+    # Initilize the environment
+    env = gem.make(env_id, physical_system_wrappers=physical_system_wrappers)
+
+    # Initialize the controller
+    c = gc.GemController.make(
+        env,
+        env_id,
+        a=8,
+        block_diagram=True,
+        current_safety_margin=0.25,
+        save_block_diagram_as=(),
+    )
+
+    # Control the environment
+    c.control_environment(env, n_steps=30000, render_env=True, max_episode_length=10000)

src/gem_controllers/gem_controller.py

@@ -153,7 +153,7 @@ def control_environment(self, env, n_steps, max_episode_length=np.inf, render_en
             render_env(bool): Flag, if the states of the environment should be plotted.
         """
 
-        state, reference = env.reset()
+        (state, reference), _ = env.reset()
         if self.block_diagram:
             self.block_diagram.open()
         self.reset()
@@ -162,10 +162,10 @@ def control_environment(self, env, n_steps, max_episode_length=np.inf, render_en
             if render_env:
                 env.render()  # Plot the states
             action = self.control(state, reference)  # Calculate the action
-            (state, reference), _, done, _ = env.step(action)  # Simulate one step of the environment
-            if done or current_episode_length >= max_episode_length:
+            (state, reference), _, trun, done, _ = env.step(action)  # Simulate one step of the environment
+            if done or trun or current_episode_length >= max_episode_length:
                 # Reset the environment and controller
-                state, reference = env.reset()
+                (state, reference), _ = env.reset()
                 self.reset()
                 current_episode_length = 0
             current_episode_length = current_episode_length + 1