Initialization bíður 2 s, mótor stöðvast alveg, hreinsun

- InitializationState: 2 s bið með millis() án þess að blokka, Boot-up sent í exit() - MotorDriver: PWM-pinnar aftengdir frá Timer2 þegar þeir eiga að vera LOW (OCR=0 í Fast PWM gaf samt stuttan púls) - Eytt útkommentuðum skrám: main_P2, temporary_main, rotary_encoder_driver_unused - .gitignore: plot-skriftan fer í git, vélarsértækar PlatformIO-skrár út
2026-09-30 11:49:51 +00:00
parent 7ca9c51268
commit c46539a57b
14 changed files with 177 additions and 559 deletions
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+"""
+Teiknar step response-plott ur CSV-gognum sem Arduino-verkefnid prentar ut
+(dalkar: time_ms, ref_rpm, actual_rpm, pwm_requested, pwm_actual).
+
+pwm_requested = Kp * error * 2.55, oklippt (getur farid langt yfir +-255)
+pwm_actual    = sama gildi en klippt vid +-255, þ.e. þad sem raunverulega
+                var sent a motor.set() / vélbúnaðinn
+
+Notkun:
+    python plot_step_response.py [inntak.csv] [uttak.png] [titill]
+
+Sjalfgefid: data/step_response.csv -> data/step_response.png
+"""
+import sys
+import csv
+import matplotlib.pyplot as plt
+
+
+def load_csv(path):
+    cols = {"time_ms": [], "ref_rpm": [], "actual_rpm": [],
+            "pwm_requested": [], "pwm_actual": []}
+    with open(path, newline="") as f:
+        reader = csv.DictReader(f)
+        for row in reader:
+            try:
+                for key in cols:
+                    cols[key].append(float(row[key]))
+            except (ValueError, KeyError):
+                # sleppir linum sem eru ekki gild data (t.d. rusl fyrir/eftir)
+                for key in cols:
+                    if len(cols[key]) > len(cols["time_ms"]):
+                        cols[key].pop()
+                continue
+    return cols
+
+
+def plot(cols, out_path, title_suffix=""):
+    time_s = [t / 1000.0 for t in cols["time_ms"]]
+    ref_rpm = cols["ref_rpm"]
+    actual_rpm = cols["actual_rpm"]
+    pwm_requested = cols["pwm_requested"]
+    pwm_actual = cols["pwm_actual"]
+
+    fig, ax1 = plt.subplots(figsize=(10, 5))
+
+    ax1.plot(time_s, ref_rpm, label="Reference (ref_rpm)", color="#666666",
+              linestyle="--", linewidth=1.5)
+    ax1.plot(time_s, actual_rpm, label="Measured (actual_rpm)", color="#1f77b4",
+              linewidth=1.8)
+    ax1.set_xlabel("Time [s]")
+    ax1.set_ylabel("Angular velocity [RPM]")
+    ax1.grid(True, alpha=0.3)
+
+    ax2 = ax1.twinx()
+    ax2.plot(time_s, pwm_requested, label="PWM requested (unclamped)",
+              color="#d62728", linewidth=1.0, alpha=0.5, linestyle=":")
+    ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
+              color="#d62728", linewidth=1.4)
+    ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
+    ax2.axhline(-255, color="#d62728", linewidth=0.6, alpha=0.3)
+    ax2.set_ylabel("PWM [-255, 255]")
+
+    # Merkjum stokkpunktinn (fyrsta stadin thar sem ref hoppar fra 0)
+    step_idx = next((i for i, r in enumerate(ref_rpm) if r > 0), None)
+    if step_idx is not None:
+        ax1.axvline(time_s[step_idx], color="black", linewidth=0.8,
+                     linestyle=":")
+        ax1.text(time_s[step_idx], max(actual_rpm) * 1.02, " step",
+                  fontsize=9, va="bottom")
+
+    lines1, labels1 = ax1.get_legend_handles_labels()
+    lines2, labels2 = ax2.get_legend_handles_labels()
+    ax1.legend(lines1 + lines2, labels1 + labels2, loc="lower right",
+               fontsize=8)
+
+    title = "Double step response: RPM and PWM over time"
+    if title_suffix:
+        title += f" ({title_suffix})"
+    fig.suptitle(title)
+    fig.tight_layout()
+    fig.savefig(out_path, dpi=150)
+    print(f"Vistad: {out_path}")
+
+
+if __name__ == "__main__":
+    in_path = sys.argv[1] if len(sys.argv) > 1 else "data/twostep.csv"
+    out_path = sys.argv[2] if len(sys.argv) > 2 else "data/twostep.png"
+    title_suffix = sys.argv[3] if len(sys.argv) > 3 else ""
+    data = load_csv(in_path)
+    plot(data, out_path, title_suffix)