helgie22
c46539a57b
- 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
92 lines
3.3 KiB
Python
92 lines
3.3 KiB
Python
#!/usr/bin/env python3
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"""
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Teiknar step response-plott ur CSV-gognum sem Arduino-verkefnid prentar ut
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(dalkar: time_ms, ref_rpm, actual_rpm, pwm_requested, pwm_actual).
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pwm_requested = Kp * error * 2.55, oklippt (getur farid langt yfir +-255)
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pwm_actual = sama gildi en klippt vid +-255, þ.e. þad sem raunverulega
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var sent a motor.set() / vélbúnaðinn
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Notkun:
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python plot_step_response.py [inntak.csv] [uttak.png] [titill]
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Sjalfgefid: data/step_response.csv -> data/step_response.png
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"""
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import sys
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import csv
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import matplotlib.pyplot as plt
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def load_csv(path):
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cols = {"time_ms": [], "ref_rpm": [], "actual_rpm": [],
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"pwm_requested": [], "pwm_actual": []}
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with open(path, newline="") as f:
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reader = csv.DictReader(f)
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for row in reader:
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try:
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for key in cols:
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cols[key].append(float(row[key]))
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except (ValueError, KeyError):
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# sleppir linum sem eru ekki gild data (t.d. rusl fyrir/eftir)
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for key in cols:
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if len(cols[key]) > len(cols["time_ms"]):
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cols[key].pop()
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continue
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return cols
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def plot(cols, out_path, title_suffix=""):
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time_s = [t / 1000.0 for t in cols["time_ms"]]
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ref_rpm = cols["ref_rpm"]
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actual_rpm = cols["actual_rpm"]
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pwm_requested = cols["pwm_requested"]
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pwm_actual = cols["pwm_actual"]
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fig, ax1 = plt.subplots(figsize=(10, 5))
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ax1.plot(time_s, ref_rpm, label="Reference (ref_rpm)", color="#666666",
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linestyle="--", linewidth=1.5)
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ax1.plot(time_s, actual_rpm, label="Measured (actual_rpm)", color="#1f77b4",
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linewidth=1.8)
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ax1.set_xlabel("Time [s]")
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ax1.set_ylabel("Angular velocity [RPM]")
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ax1.grid(True, alpha=0.3)
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ax2 = ax1.twinx()
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ax2.plot(time_s, pwm_requested, label="PWM requested (unclamped)",
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color="#d62728", linewidth=1.0, alpha=0.5, linestyle=":")
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ax2.plot(time_s, pwm_actual, label="PWM actual (clamped)",
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color="#d62728", linewidth=1.4)
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ax2.axhline(255, color="#d62728", linewidth=0.6, alpha=0.3)
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ax2.axhline(-255, color="#d62728", linewidth=0.6, alpha=0.3)
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ax2.set_ylabel("PWM [-255, 255]")
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# Merkjum stokkpunktinn (fyrsta stadin thar sem ref hoppar fra 0)
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step_idx = next((i for i, r in enumerate(ref_rpm) if r > 0), None)
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if step_idx is not None:
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ax1.axvline(time_s[step_idx], color="black", linewidth=0.8,
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linestyle=":")
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ax1.text(time_s[step_idx], max(actual_rpm) * 1.02, " step",
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fontsize=9, va="bottom")
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lines1, labels1 = ax1.get_legend_handles_labels()
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lines2, labels2 = ax2.get_legend_handles_labels()
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ax1.legend(lines1 + lines2, labels1 + labels2, loc="lower right",
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fontsize=8)
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title = "Double step response: RPM and PWM over time"
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if title_suffix:
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title += f" ({title_suffix})"
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fig.suptitle(title)
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fig.tight_layout()
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fig.savefig(out_path, dpi=150)
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print(f"Vistad: {out_path}")
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if __name__ == "__main__":
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in_path = sys.argv[1] if len(sys.argv) > 1 else "data/twostep.csv"
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out_path = sys.argv[2] if len(sys.argv) > 2 else "data/twostep.png"
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title_suffix = sys.argv[3] if len(sys.argv) > 3 else ""
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data = load_csv(in_path)
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plot(data, out_path, title_suffix)
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