def aniupdate(i): t=self.t+2*np.pi*i/50 self.lines[0].set_ydata(np.sin(t)) return self.lines
时间: 2023-02-21 17:28:54 浏览: 34
这是一个Python函数,名为aniupdate,接收一个参数i。该函数将t设置为self.t 2 * np.pi * i / 50,并使用np.sin(t)设置self.lines[0]的y坐标数据,最后返回self.lines。
需要注意的是,该代码片段缺少上下文信息,因此可能存在一些变量和类属性的未定义引用。
相关问题
约瑟夫环改错class Node: def __init__(self,data): self.data=data self.next=Noneclass linklist: def __init__(self): self.head=None self.data=None def isEmpty(self): if self.head: return False else: return True def length(self): if self.isEmpty(): return 0 else: t = self.head n = 1 while t.next: if t.next == self.head: break t = t.next n = n + 1 return n def addhead(self,data): node = Node(data) if self.isEmpty(): self.head = node self.tail = self.head else: node.next = self.head self.head = node self.tail.next = self.head def addtail(self,data): node=Node(data) if self.isEmpty(): self.addhead(data) else: t=self.head n=1 l=self.length() while n<l: n=n+1 t=t.next t.next=node node.next=self.head self.tail=node def delete(self,index): if self.isEmpty(): print("The linked list is empty") else: t = self.head l = self.length() if index == 0: self.head = t.next self.tail.next = self.head elif index == l - 1: n = 1 while n < l - 1: t = t.next n = n + 1 t.next = self.head self.tail = t elif index > l - 1: print("Out of range") elif index < 0: print("Wrong operation") else: n = 1 while n < index - 1: t = t.next n = n + 1 a = t.next.next t.next = a def insert(self,data,index): l = self.length() if index == 0 or self.isEmpty(): self.addhead(data) elif index >= l: self.addtail(data) else: node = Node(data) t = self.head n = 1 while n < index - 1: t = t.next n = n + 1 a = t.next t.next = node node.next = a def search(self,a): t=self.head for i in range(a): t=t.next return t.data def form(self,datalist): self.addhead(datalist[0]) for i in range(1,len(datalist)): self.addtail(datalist[i]) t = self.head while t.next != self.head: t = t.nextn,p=map(int,input().split(' '))data=[]p=p-1for i in range(1,n+1): data.append(i)print(data)datalist=[]for i in range(len(data)): datalist.append(int(data[i]))link=linklist()link.form(datalist)a=pb=[]while link.length()>0: b.append(link.search(a)) link.delete(a) a=a+p while a>=link.length(): a=a-link.length()print(b)
改错如下:
```python
class Node:
def __init__(self, data):
self.data = data
self.next = None
class LinkList:
def __init__(self):
self.head = None
self.tail = None
def isEmpty(self):
if self.head:
return False
else:
return True
def length(self):
if self.isEmpty():
return 0
else:
t = self.head
n = 1
while t.next:
if t.next == self.head:
break
t = t.next
n += 1
return n
def addhead(self, data):
node = Node(data)
if self.isEmpty():
self.head = node
self.tail = self.head
else:
node.next = self.head
self.head = node
self.tail.next = self.head
def addtail(self, data):
node = Node(data)
if self.isEmpty():
self.addhead(data)
else:
t = self.head
n = 1
l = self.length()
while n < l:
n += 1
t = t.next
t.next = node
node.next = self.head
self.tail = node
def delete(self, index):
if self.isEmpty():
print("The linked list is empty")
else:
t = self.head
l = self.length()
if index == 0:
self.head = t.next
self.tail.next = self.head
elif index == l - 1:
n = 1
while n < l - 1:
t = t.next
n += 1
t.next = self.head
self.tail = t
elif index > l - 1:
print("Out of range")
elif index < 0:
print("Wrong operation")
else:
n = 1
while n < index:
t = t.next
n += 1
a = t.next.next
t.next = a
def insert(self, data, index):
l = self.length()
if index == 0 or self.isEmpty():
self.addhead(data)
elif index >= l:
self.addtail(data)
else:
node = Node(data)
t = self.head
n = 1
while n < index:
t = t.next
n += 1
a = t.next
t.next = node
node.next = a
def search(self, a):
t = self.head
for i in range(a):
t = t.next
return t.data
def form(self, datalist):
self.addhead(datalist[0])
for i in range(1, len(datalist)):
self.addtail(datalist[i])
t = self.head
while t.next != self.head:
t = t.next
n, p = map(int, input().split(' '))
data = [i for i in range(1, n+1)]
print(data)
datalist = []
for i in range(len(data)):
datalist.append(data[i])
link = LinkList()
link.form(datalist)
a = p-1
b = []
while link.length() > 0:
b.append(link.search(a))
link.delete(a)
a += p-1
while a >= link.length():
a -= link.length()
print(b)
```
帮我解释以下代码 PID: _kp = _ki = _kd = _integrator = _imax = 0 _last_error = _last_derivative = _last_t = 0 _RC = 1/(2 * pi * 20) def init(self, p=0, i=0, d=0, imax=0): self._kp = float(p) self._ki = float(i) self._kd = float(d) self._imax = abs(imax) self._last_derivative = float('nan') def get_pid(self, 错误,缩放器): tnow = millis() dt = tnow - self._last_t 输出 = 0 如果 self._last_t == 0 或 dt > 1000: dt = 0 self.reset_I() self._last_t = tnow delta_time = float(dt) / float(1000) 输出 += error * self._kp 如果 abs(self._kd) > 0 和 dt > 0: 如果 isnan(self._last_derivative): 导数 = 0 self._last_derivative = 0 否则: 导数 =(误差 - self._last_error) / delta_time导数 = self._last_derivative + \ ((delta_time / (self._RC + delta_time)) * \ (导数 - self._last_derivative)) self._last_error = 误差 self._last_derivative = 导数输出 += self._kd * 导数输出 *= 缩放器 如果 abs(self._ki) > 0 且 DT > 0: self._integrator += (误差 * self._ki) * 缩放器 * delta_time 如果self._integrator < -self._imax: self._integrator = -self._imax ELIF self._integrator > self._imax: self._integrator = self._imax 输出 += self._integrator 返回输出 def reset_I(自身): self._integrator = 0 self._last_derivative = float('nan')
这段代码实现了一个PID控制器,其中的变量含义如下:
- _kp, _ki, _kd:分别是比例、积分、微分系数,用于调整PID控制器的响应特性;
- _integrator:积分器,用于积累误差,并作为积分项的输出;
- _imax:积分项输出的限幅值,防止积分器饱和;
- _last_error:记录上一次的误差,用于计算微分项;
- _last_derivative:记录上一次的误差变化率,用于计算微分项;
- _last_t:记录上一次调用PID控制器的时间,用于计算时间间隔;
- _RC:低通滤波器的时间常数,用于平滑微分项的输出。
该控制器的初始化函数 init() 设置了比例、积分、微分系数以及积分项输出的限幅值,其中积分项的输出限幅值取绝对值后作为最大值,可以避免积分项过大导致控制器不稳定。
PID控制器的主要函数是 get_pid(),它接收一个误差值和一个缩放因子,返回一个控制输出。该函数首先计算时间间隔 dt,如果时间间隔过大则重置积分器,然后根据比例、积分、微分系数计算出控制输出。其中,微分项使用了一阶低通滤波器平滑输出,以避免噪声对控制器的影响。
最后,reset_I()函数用于重置积分器和微分项,以便在重新开始控制时避免积分器过度积累误差。