got it working!

calib.p

@@ -1,12 +1,12 @@
 (dp0
 S'right'
 p1
-(I520
-I234
+(I526
+I205
 tp2
 sS'left'
 p3
-(I130
-I246
+(I142
+I210
 tp4
 s.

cart_controller.py

@@ -0,0 +1,57 @@
+from sabretooth_command import CartCommand
+from encoder_analyzer import EncoderAnalyzer
+import threading
+
+
+
+class CartController:
+	def __init__(self, cart, analyzer):
+		self.cart = cart
+		self.analyzer = analyzer
+		self.speed = 0
+		self.cart.enabled = True
+
+		self.mm_per_s_per_dc = 0.5 #determined experimentally
+		#self.limit_switch_thread = threading.Thread(target=self._limit_switch_check)
+		#self.limit_switch_thread.daemon = True
+		#self.limit_switch_thread.start()
+
+	def _limit_switch_check(self):
+		while True:
+			if (self.speed > 0) and self.analyzer.end_stop_high:
+				self.cart.setSpeed(0)
+				print("high limit switch")
+			if (self.speed < 0) and self.analyzer.end_stop_low:
+				self.cart.setSpeed(0)
+				print("low limit switch")
+
+	def setSpeed(self, speed):
+		self.speed = max(-2046, min(speed, 2047)) # clamp to correct range
+		self.cart.setSpeed(self.speed)
+
+	def setSpeedMmPerS(self, speed):
+		speed *= self.mm_per_s_per_dc
+		if speed < 0:
+			speed -= 100
+		else:
+			speed += 100
+		self.speed = max(-2046, min(speed, 2047)) # clamp to correct range
+		self.cart.setSpeed(self.speed)
+
+	def zeroAnalyzer(self):
+		while not self.analyzer.checkEndStopHigh():
+			self.cart.setSpeed(700)
+		self.analyzer.setMax()
+		while not self.analyzer.checkEndStopLow():
+			self.cart.setSpeed(-700)
+		self.cart.setSpeed(0)
+		self.analyzer.setZero()
+
+	def goTo(self, target_x):
+		print(self.analyzer.getCartPosition(), self.analyzer.getPolePosition())
+		while (self.analyzer.getCartPosition() - target_x) > 25:
+			self.cart.setSpeed(-1000)
+		while (self.analyzer.getCartPosition() - target_x) < -25:
+			self.cart.setSpeed(1000)
+		self.cart.setSpeed(0)
+

cartpole_env.py

@@ -8,22 +8,22 @@
 from image_analyzer_pseye import ImageAnalyzer
 import cv2
 
+from time import sleep
+
+
+
 logger = logging.getLogger(__name__)
 
 class CartPoleEnv(gym.Env):
-    metadata = {
-        'render.modes': ['human', 'rgb_array'],
-        'video.frames_per_second' : 50
-    }
 
-    def __init__(self, cartport, imageport):
-        self.port = port
+    def __init__(self, cartport="/dev/ttyACM0", imageport=1):
         self.analyzer = ImageAnalyzer(imageport)
         self.cart = CartCommand(port=cartport)
 
         self.action_space = spaces.Discrete(2)
         self.observation_space = spaces.Box(np.array([0.,-50.,0.,-50.,-1.,-50.]), np.array([1.,50.,1.,50.,1.,50.]))
 
+        self.last_state = None
         self.state = self._getState()
         self.last_state = self._getState()
 
@@ -54,7 +54,7 @@ def _step(self, action):
 
     def _reset(self):
         x, dx, theta, dtheta = self.analyzer.analyzeFrame()
-        cart.enabled = True
+        self.cart.enabled = True
         while not 0.4 < x < 0.6:
             x, dx, theta, dtheta = self.analyzer.analyzeFrame()
 
@@ -74,10 +74,10 @@ def _getData(self):
         ypole = np.sin(theta)
         return x, xpole, ypole
 
-    def _getState():
-        x, xpole, ypole = self._getData
-        if not old_state is None:
-            state = [x, x-old_state[0], xpole, xpole - old_state[2], ypole, ypole - old_state[4]]
+    def _getState(self):
+        x, xpole, ypole = self._getData()
+        if not self.last_state is None:
+            state = [x, x-self.last_state[0], xpole, xpole - self.last_state[2], ypole, ypole - self.last_state[4]]
         else: 
             state = [x, 0, xpole, 0, ypole, 0]
         return state