mirror of
https://github.com/odriverobotics/ODrive.git
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41 lines
719 B
Python
41 lines
719 B
Python
#!/usr/bin/env python3
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"""
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Liveplotter
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"""
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import time
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import odrive.core
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import matplotlib.pyplot as plt
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import numpy as np
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import threading
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from IPython import embed
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data_rate = 100
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plot_rate = 10
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num_samples = 1000
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myOdrive = odrive.core.find_any()
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plt.ion()
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global vals
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vals = []
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def fetch_data():
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global vals
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while True:
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vals.append(myOdrive.motor0.encoder.pll_pos)
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if len(vals) > num_samples:
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vals = vals[-num_samples:]
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time.sleep(1/data_rate)
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def plot_data():
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global vals
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while True:
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plt.clf()
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plt.plot(vals)
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plt.pause(1/plot_rate)
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fetch_thread = threading.Thread(target=fetch_data, daemon=True)
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fetch_thread.start()
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plot_data() |