work on tuning

python/MXTuning.py

@@ -335,8 +335,8 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
     args=parser.parse_args()
 
     #plt.ion()
-    args.host='MOTTEST-CPPM-CRM0573'
-    args.host=None
+    #args.host='MOTTEST-CPPM-CRM0573'
+    #args.host=None
     if args.host is None:
       comm=gt=None
     else:
@@ -412,7 +412,8 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
 
     elif mode == 6:  # plot all raw acquired data files
       # display bode plots
-      for fn in args.plot:
+      import glob
+      for fn in glob.glob(os.path.join(base,'*.npz')):
         if os.path.basename(fn).startswith('sine_ol_mot'):
           tune.bode_sine(openloop=True, file=fn)
         if os.path.basename(fn).startswith('chirp_ol_mot'):
@@ -421,14 +422,33 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
           tune.bode_sine(openloop=False, file=fn)
         if os.path.basename(fn).startswith('chirp_cl_mot'):
           tune.bode_chirp(openloop=False, file=fn)
-      print('done')
     elif mode==7: #further tests
-      #tune.init_stage();
-      plt.close('all')
-      #tune.custom_chirp()
-      tune.custom_chirp(motor=1,minFrq=100,maxFrq=3000,amp=10,tSec=5,mode=0,file='/tmp/cst_chirp0.npz')
-      #tune.custom_chirp(motor=2,minFrq=1,maxFrq=1000,tSec=5,mode=1,file='/tmp/cst_chirp1.npz')
-      #tune.custom_chirp(motor=1,minFrq=1,maxFrq=3000,tSec=5,mode=2,file='/tmp/cst_chirp2.npz')
+      fn='/tmp/cst_chirp0.npz'
+      motLst=(1, 2)#(2,)#
+      init_stage=False
+      for mot in motLst:
+        fn=os.path.join(base, 'cst_chirp_s_ol_%d.npz' % mot)
+        if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
+        tune.custom_chirp(motor=mot,minFrq=100,maxFrq=1000,amp=50,tSec=15,mode=0,file=fn)
+      init_stage=False
+      for mot in motLst:
+        fn=os.path.join(base, 'cst_chirp_s_cl1_%d.npz' % mot)
+        if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
+        tune.custom_chirp(motor=mot,minFrq=1,maxFrq=100,amp=20,tSec=15,mode=1,file=fn)
+      init_stage=False
+      for mot in motLst:
+        fn=os.path.join(base, 'cst_chirp_s_cl2a_%d.npz' % mot)
+        if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
+        tune.custom_chirp(motor=mot,minFrq=1,maxFrq=30,amp=100,tSec=30,mode=2,file=fn)
+      for mot in motLst:
+        fn=os.path.join(base, 'cst_chirp_s_cl2b_%d.npz' % mot)
+        if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
+        tune.custom_chirp(motor=mot,minFrq=20,maxFrq=150,amp=10,tSec=30,mode=2,file=fn)
+      init_stage=False
+      for mot in motLst:
+        fn=os.path.join(base, 'cst_chirp_s_cl2c_%d.npz' % mot)
+        if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
+        tune.custom_chirp(motor=mot,minFrq=100,maxFrq=300,amp=1,tSec=30,mode=2,file=fn)
     elif mode==8: #generater code
       #before this can be done, the observer controller has to be designed with matlab:
       #s.a.ESB_MX/matlab/Readme.md
@@ -462,6 +482,15 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
       fh.close()
       print(fnc+' generated.')
       print('now compile it looking at PBTools/pbtools/usr_servo_phase/usrServoSample')
+    elif mode==9: #SCRATCH
+      motLst=(1, 2)#(2,)#
+      init_stage=False
+      for mot in motLst:
+        fn=os.path.join(base, 'scratch_%d.npz' % mot)
+        if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
+        tune.custom_chirp(motor=mot,minFrq=1,maxFrq=20,amp=200,tSec=15,mode=2,file=fn)
+
+    print('done')
     plt.show()
   #------------------ Main Code ----------------------------------
   #ssh_test()'/tmp/usrcode.c'