Mirrors_Framework/ODrive
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New functions for plotting, and fixed typo of data_rate

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This commit is contained in:
Kyle Bartholomew
2020-05-25 18:36:20 -07:00
parent 7148de710a
commit 41b3a0ec52
1 changed files with 87 additions and 7 deletions
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tools/odrive/utils.py
+87 -7
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@@ -60,7 +60,7 @@ def dump_errors(odrv, clear=False):
else:
print(prefix + _VT100Colors['green'] + "no error" + _VT100Colors['default'])
data_rate = 10
data_rate = 100
plot_rate = 10
num_samples = 1000
def start_liveplotter(get_var_callback):
@@ -115,14 +115,94 @@ def start_liveplotter(get_var_callback):
fetch_t.daemon = True
fetch_t.start()
plot_t = threading.Thread(target=plot_data)
plot_t.daemon = True
plot_t.start()
#plot_t = threading.Thread(target=plot_data)
#plot_t.daemon = True
#plot_t.start()
plot_data()
return cancellation_token;
#plot_data()
def start_bulk_capture(get_var_callback,
sleep_time=1.0/1000.0,
samples=2000):
'''
Synchronous function to capture data and return as a pandas Dataframe
'''
import pandas as pd
vals = []
start_time = time.monotonic()
last_time = 0
too_slow_counter = 0
#total_samples = length_seconds * data_rate
for i in range(samples):
try:
data = get_var_callback()
except Exception as ex:
print(str(ex))
print("Waiting 1 second before next data point")
time.sleep(1)
continue
relative_time = time.monotonic() - start_time
vals.append([relative_time] + data)
time.sleep(sleep_time)
# delta_t = (relative_time - last_time)
# period = 1.0 / data_rate
# if delta_t < period:
# time.sleep(period - delta_t)
# elif delta_t > period:
# too_slow_counter += 1
# last_time = relative_time
# if too_slow_counter > 0:
# print("Slower than requested data rate for {} samples out of {} total samples"
# .format(too_slow_counter, total_samples))
return pd.DataFrame(vals)
def start_bulk_capture2(get_var_callback,
data_rate=1000.0,
length_seconds=2):
'''
Synchronous function to capture data and return as a pandas Dataframe
'''
import pandas as pd
vals = []
start_time = time.monotonic()
last_time = 0
too_slow_counter = 0
total_samples = int(length_seconds * data_rate)
for i in range(total_samples):
try:
data = get_var_callback()
except Exception as ex:
print(str(ex))
print("Waiting 1 second before next data point")
time.sleep(1)
continue
relative_time = time.monotonic() - start_time
vals.append([relative_time] + data)
delta_t = (relative_time - last_time)
period = 1.0 / data_rate
if delta_t < period:
time.sleep(period - delta_t)
elif delta_t > period:
too_slow_counter += 1
last_time = relative_time
if too_slow_counter > 0:
print("Slower than requested data rate for {} samples out of {} total samples"
.format(too_slow_counter, total_samples))
return pd.DataFrame(vals)
def capture_and_plot(get_var_callback,
sleep_time=1.0/1000.0,
samples=2000):
import matplotlib.pyplot as plt
data = start_bulk_capture(get_var_callback,
sleep_time,
samples)
plt.plot(data[0], data.drop(0, axis=1))
plt.show()
def print_drv_regs(name, motor):
"""
Dumps the current gate driver regisers for the specified motor
@@ -157,14 +237,14 @@ def rate_test(device):
# import matplotlib.pyplot as plt
# plt.ion()
print("reading 10000 values...")
print("reading 10000 values... new value")
numFrames = 10000
vals = []
for _ in range(numFrames):
vals.append(device.axis0.loop_counter)
loopsPerFrame = (vals[-1] - vals[0])/numFrames
loopsPerSec = (168000000/(2*10192))
loopsPerSec = (168000000/(6*3500))
FramePerSec = loopsPerSec/loopsPerFrame
print("Frames per second: " + str(FramePerSec))