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hardware_interface.py

+class HardwareInterface:
+    def __init__(self, hardware_params):
+        """
+        Initialize hardware interface components.
+        - Setup GPIO pins for motor control and rotary encoder.
+        - Initialize variables for motor control and angle measurement.
+        """
+        # Initialize motor control pins (GPIO setup)
+        self.motor_pin_in1 = hardware_params['motor_pins'][0]
+        self.motor_pin_in2 = hardware_params['motor_pins'][1]
+
+        # Initialize rotary encoder pins (GPIO setup)
+        self.encoder_pin_clk = hardware_params['encoder_pins'][0]
+        self.encoder_pin_dt = hardware_params['encoder_pins'][1]
+
+        # Setup initial states and values for motor control and angle measurement
+        self.angle = 0
+        self.last_state_clk = self.read_encoder_pin(self.encoder_pin_clk)
+        
+        # Define motor control parameters (e.g., speed, direction)
+        self.motor_speed = 0
+
+    def read_encoder_pin(self, pin):
+        """
+        Read the state of the rotary encoder pin.
+        - Implement debouncing logic if necessary.
+        - Return the current state of the pin.
+        """
+        # Implement GPIO read functionality
+        return gpio_read(pin)
+
+    def update_angle(self):
+        """
+        Update the angle of the pole based on rotary encoder inputs.
+        - Read the current state of the encoder.
+        - Compare it with the last state to detect rotation direction.
+        - Increment or decrement the angle based on direction.
+        """
+        current_state_clk = self.read_encoder_pin(self.encoder_pin_clk)
+
+        if current_state_clk != self.last_state_clk:
+            # Check rotation direction
+            if self.read_encoder_pin(self.encoder_pin_dt) != current_state_clk:
+                self.angle += 1  # Clockwise rotation
+            else:
+                self.angle -= 1  # Counter-clockwise rotation
+            
+            # Update last state
+            self.last_state_clk = current_state_clk
+
+    def control_motor(self, action):
+        """
+        Control the motor based on the action from the trained model.
+        - action: 0 for moving left, 1 for moving right.
+        - Set motor direction and speed accordingly.
+        """
+        if action == 0:
+            # Move motor to the left (e.g., set IN1 high, IN2 low)
+            gpio_write(self.motor_pin_in1, HIGH)
+            gpio_write(self.motor_pin_in2, LOW)
+        elif action == 1:
+            # Move motor to the right (e.g., set IN1 low, IN2 high)
+            gpio_write(self.motor_pin_in1, LOW)
+            gpio_write(self.motor_pin_in2, HIGH)
+
+        # Optionally set the motor speed if using PWM
+        # pwm_write(self.motor_pwm_pin, self.motor_speed)
+
+    def reset(self):
+        """
+        Reset the environment to its initial state.
+        - Reset the angle and any other state variables.
+        - Return the initial state.
+        """
+        self.angle = 0
+        return self.get_state()
+
+    def get_state(self):
+        """
+        Get the current state of the system.
+        - Return the state as a tuple (angle, angle_velocity).
+        """
+        # Calculate angular velocity if necessary
+        angle_velocity = calculate_angle_velocity(self.angle)
+        
+        return (self.angle, angle_velocity)
+
+    def step(self, action):
+        """
+        Execute one time step of the environment.
+        - Apply the action using the motor.
+        - Update the angle of the pole.
+        - Check if the episode is done (e.g., if the pole falls too far).
+        - Return the new state, reward, and done flag.
+        """
+        self.control_motor(action)
+        self.update_angle()
+        next_state = self.get_state()
+
+        # Define reward and done conditions based on the current state
+        reward = calculate_reward(next_state)
+        done = check_done(next_state)
+
+        return next_state, reward, done
+
+    def close(self):
+        """
+        Clean up the hardware interface.
+        - Reset GPIO states and close any open connections.
+        """
+        # Clean up GPIO pins
+        gpio_cleanup()
+
+# Example helper functions (to be implemented according to your setup)
+def gpio_read(pin):
+    pass
+
+def gpio_write(pin, value):
+    pass
+
+def pwm_write(pin, value):
+    pass
+
+def calculate_angle_velocity(angle):
+    pass
+
+def calculate_reward(state):
+    pass
+
+def check_done(state):
+    pass
+
+def gpio_cleanup():
+    pass