{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "45dee56e",
   "metadata": {},
   "source": [
    "# Controller with Live Plotting"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "9ab99ff2-911e-427e-8d11-4667c803318c",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "\n",
    "from aeroshield import AeroShield\n",
    "\n",
    "from pid_example import PIDController\n",
    "\n",
    "# set matplotlib to use separate plotting window\n",
    "%matplotlib"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "99f14ae8-72eb-4268-ba33-9ce90825da72",
   "metadata": {
    "tags": []
   },
   "outputs": [],
   "source": [
    "# RUNNING THIS MIGHT KILL THE KERNEL (WHICH YOU CAN JUST RESTART, BUT STILL)\n",
    "\n",
    "controller = PIDController(AeroShield())\n",
    "hist = controller.run(200, 2000, 20*np.ones(2000), live_plot=True)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "f1aaaaca-8c43-429c-897c-a39160e46275",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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   "pygments_lexer": "ipython3",
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