pvt motion

python/MAVelocity.py

@@ -45,19 +45,22 @@ class MPLCanvasVelo(FigureCanvas):
     self.fig=fig
     self.ax=ax
 
-  def InitChild(self,vel):
-
+  def InitChild(self,meta,vel):
     fig=self.fig
     ax=self.ax
 
-    velxAct,velxDes,velyAct,velyDes=vel
+    velxAct,velxDes,velyAct,velyDes,velAct,velDes=vel
+    l=velxAct.shape[0]
     hl = []
-    hl += ax.plot(velxAct, 'g-',label='vel x act')
-    hl += ax.plot(velxDes, 'g--',label='vel x des')
-    hl += ax.plot(velyAct, 'b-',label='vel y act')
-    hl += ax.plot(velyDes, 'b--',label='vel y des')
-    ax.xaxis.set_label_text('time (10x servo cycle)')
-    ax.yaxis.set_label_text('pos-error um')
+    hl += ax.plot(velxAct, 'b-',label='vel x act')
+    hl += ax.plot(velxDes, 'b--',label='vel x des')
+    hl += ax.plot(velyAct, 'g-',label='vel y act')
+    hl += ax.plot(velyDes, 'g--',label='vel y des')
+    hl += ax.plot(velAct, 'r-',label='vel act')
+    hl += ax.plot(velDes, 'r--',label='vel des')
+
+    ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%meta['timebase'])
+    ax.yaxis.set_label_text('um/ms')
     legend = ax.legend(loc='upper right', shadow=True)
     #axvline(linewidth=4, color='r')
     #mpl.axvline(linewidth=4, color='r')
@@ -136,16 +139,24 @@ class MAVelocityFrame(wx.Frame):
 
     toolbar=ut.AddToolbar(canvas,sizer)
 
+    meta = doc.fh['meta'].item()
     try:
       vel=doc.vel
     except AttributeError:
+      tb=meta['timebase']
+      #data points are um
+      #datapoint timebase: 2 ms () per data point
+      #velocity: um/ms (deltatau desVel= motor units per serco cycle)
       rec=doc.fh['rec']
-      velxAct = np.diff(rec[:, 1])
-      velxDes = np.diff(rec[:, 4])
-      velyAct = np.diff(rec[:, 2])
-      velyDes = np.diff(rec[:, 5])
-      doc.vel = vel = (velxAct,velxDes,velyAct,velyDes)
-    canvas.InitChild(vel)
+      velxAct = np.diff(rec[:, 1])/tb
+      velxDes = np.diff(rec[:, 4])/tb
+      velyAct = np.diff(rec[:, 2])/tb
+      velyDes = np.diff(rec[:, 5])/tb
+      velAct = np.sqrt(velxAct**2+velyAct**2)
+      velDes = np.sqrt(velxDes**2+velyDes**2)
+      doc.vel = vel = (velxAct,velxDes,velyAct,velyDes,velAct,velDes)
+
+    canvas.InitChild(meta,vel)
 
     self.Centre()
 
@@ -184,7 +195,6 @@ class MAVelocityFrame(wx.Frame):
       canvas = self.canvas
       ax = canvas.ax
       len = usrData
-      err = self.doc.err
       hl = canvas.hl
       #hl[0].set_data(rec[:len, 4], rec[:len, 5])
       #hl[3].set_data(rec[:len, 1], rec[:len, 2])