70 lines
1.8 KiB
Python
Executable File
70 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python
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# vim: ts=8 sts=4 sw=4 expandtab autoindent smartindent
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# plotting for the motor tracking CSV file
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# Author Douglas Clowes 2013 (dcl@ansto.gov.au)
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#
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import numpy as np
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import matplotlib as mpl
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import matplotlib.pyplot as plt
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import argparse
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def make_delta(q):
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delta_q = np.zeros(len(q))
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delta_q[0] = 0.0
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for i in range(1, len(q)):
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delta_q[i] = q[i] - q[i - 1]
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return delta_q
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parser = argparse.ArgumentParser()
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parser.add_argument("csv_file", help="TrackingFile.csv", nargs="?")
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args = parser.parse_args()
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if args.csv_file:
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csv_file = args.csv_file
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else:
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csv_file = "s2_tracking.csv"
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data = np.loadtxt(csv_file, delimiter=",", skiprows=1, unpack=True)
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t, p, s, c = data
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if False:
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print dir(data)
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#print data.T
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print len(data)
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print len(t)
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delta_t = make_delta(t)
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delta_p = make_delta(p)
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delta_s = make_delta(s)
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delta_c = make_delta(c)
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fig = plt.figure()
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ax1 = fig.add_subplot(111)
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ax1.set_title("Motion Tracking (" + csv_file + ")")
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ax1.set_xlabel("position (%.3f to %.3f)" % (p[0], p[-1]))
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ax1.set_ylabel("Steps/Count")
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steps_per_count = ((s[-1] - s[0]) / (c[-1] - c[0]))
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print "StepsPerCount: %.6f" % steps_per_count
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delta_spc = np.zeros(len(t))
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for i in range(len(delta_spc)):
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if delta_c[i] == 0:
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delta_spc[i] = 0
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else:
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delta_spc[i] = delta_s[i] / delta_c[i]
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if False:
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print len(t), len(delta_s), len(delta_spc)
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print delta_spc
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for i in range(len(t)):
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print "%4d: %18.6f %18.6f %18.6f %18.6f %18.6f" % (i, t[i], delta_t[i], delta_s[i], delta_c[i], delta_spc[i])
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ax1.plot(p, delta_spc - steps_per_count, c='r', label='delta steps per count')
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ax1.plot(p, (s - s[0])/(c - c[0]) - steps_per_count, c='b', label='steps / counts')
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ax1.get_xaxis().grid(True, 'both')
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ax1.get_yaxis().grid(True, 'both')
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leg = ax1.legend()
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plt.show()
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