robloxでassistant その76

概要

robloxでassistantやってみた。
練習問題やってみた。

練習問題

PID制御で倒れる壁を立たせよ。

手順

• ServerScriptServiceに、scriptを追加。
• スクリプトを書く。

local PID = {}
PID.__index = PID
function PID.new(min: number, max: number, kp: number, ki: number, kd: number)
	local self = setmetatable({}, PID)
	self._min = min
	self._max = max
	self._kp = kp
	self._ki = ki
	self._kd = kd
	self._lastInput = 0
	self._outputSum = 0
	self.POnE = true
	return self
end
function PID:Reset()
	self._lastInput = 0
	self._outputSum = 0
end
function PID:Calculate(setpoint: number, input: number)
	local err = (setpoint - input)
	local dInput = (input - self._lastInput)
	self._outputSum += (self._ki * err)
	if not self.POnE then
		self._outputSum -= self._kp * dInput
	end
	self._outputSum = math.clamp(self._outputSum, self._min, self._max)
	local output = 0
	if self.POnE then
		output = self._kp * err
	end
	output += self._outputSum - self._kd * dInput
	output = math.clamp(output, self._min, self._max)
	self._lastInput = input
	return output
end
function PID:Debug(name: string, parent: Instance?)
	if self._debug then
		return
	end
	if not game:GetService("RunService"):IsStudio() then
		return
	end
	local folder = Instance.new("Folder")
	folder.Name = name
	local function Bind(attrName, propName)
		folder:SetAttribute(attrName, self[propName])
		folder:GetAttributeChangedSignal(attrName):Connect(function()
			self[propName] = folder:GetAttribute(attrName)
			self:Reset()
		end)
	end
	Bind("Min", "_min")
	Bind("Max", "_max")
	Bind("KP", "_kp")
	Bind("KI", "_ki")
	Bind("KD", "_kd")
	folder.Parent = parent or workspace
	self._debug = folder
end
function PID:Destroy()
	if self._debug then
		self._debug:Destroy()
		self._debug = nil
	end
end

local part = Instance.new("Part", workspace)
part.Size = Vector3.new(0.5, 9, 5)
part.CFrame = CFrame.new(0, 6, 0)

local pid = PID.new(-1000, 1000, 100, 10, 5)
local attachment = Instance.new("Attachment", part)
local vectorForce = Instance.new("VectorForce", part)
vectorForce.Attachment0 = attachment
local function update(deltaTime: number)
	local tilt = part.Orientation.X
	local force = pid:Calculate(0, tilt)
	vectorForce.Force = Vector3.new(force, 0, 0)
end
game:GetService("RunService").Stepped:Connect(update)

写真

以上。