331 lines
11 KiB
Python
Executable File
331 lines
11 KiB
Python
Executable File
#!/usr/bin/env python
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# *-----------------------------------------------------------------------*
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# | |
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# | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) |
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# | |
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# | Author Thierry Zamofing (thierry.zamofing@psi.ch) |
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# *-----------------------------------------------------------------------*
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'''
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tuning functions for deltatau:
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For now it does 10 step move and uploads the data
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other available tuning progs on the powerbrick are:
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analyzerautotunemove
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autotunecalc
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autotunemove
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chirpmove
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currentautotunecalc
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currentstep
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filtercalculation
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openloopchirp
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openloopsine
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openlooptestmove
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othertrajectory
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parabolicmove
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randommove
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sinesweep
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sinusoidal
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stepmove
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user_gantry_crosscoupled.h
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usertrajectory
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Modes:
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1: sine bode open loop
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2: chirp bode open loop
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3: sine bode closed loop
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4: chirp bode closed loop
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TODO:
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use openloopsine to create a bode diagram of the 'strecke'
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'''
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import os, sys, json, time
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import numpy as np
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import matplotlib as mpl
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#mpl.use('GTKAgg')
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import matplotlib.pyplot as plt
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import subprocess as sprc
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import telnetlib
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from utilities import *
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class PBTuning:
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tuneDir='/opt/ppmac/tune/'
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def __init__(self,args):
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self.args=args
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def do_command(self,cmd,*param):
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args=self.args
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host=args.host
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cmd=('ssh','root@'+host, self.tuneDir+cmd)+tuple(map(str,param))
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print(' '.join(cmd))
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p=sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
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res=p.wait()
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print(res)
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print(p.stderr.read())
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print(p.stdout.read())
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PBGatherPlot='/home/zamofing_t/scripts/PBGatherPlot'
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try:
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fnLoc=self.fnLoc
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except AttributeError:
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fnLoc = '/tmp/gather.txt'
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cmd=(PBGatherPlot,'-m24','-v0','--host',host,'--dat',fnLoc)
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p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
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retval = p.wait()
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print(p.stderr.read())
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#print(p.stdout.read())
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#self.meta = {'timebase': ServoPeriod*gather['Period']}
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self.data = np.genfromtxt(fnLoc, delimiter=' ')
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return self.data
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def phase_amp(self,frq,rep):
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try:
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ax1=self.ax1
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ax2=self.ax2
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ax1.clear()
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ax2.clear()
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except AttributeError:
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fig = plt.figure(); self.ax1=ax1 = fig.add_subplot(1, 1, 1)
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fig = plt.figure(); self.ax2=ax2 = fig.add_subplot(1, 1, 1)
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n = self.data.shape[0]
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w=np.hamming(n)
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res=np.ndarray((2,2))
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col=('b-','g-')
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for i in (0,1):
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data=self.data[:,i]
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avg=data.mean(0)
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#data=data-data[0]
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data=data-avg
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data*=w
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ax1.plot(data, col[i])
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f = np.fft.fft(data)
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ax2.plot(np.absolute(f) , col[i])
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idx = int(rep)
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bias = np.absolute(f[0] / n)
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phase = np.angle(f[idx])
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#ampl = np.absolute(f[idx]) * 2 / n
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ampl = np.absolute(f[idx]) * 2 / w.sum()
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res[i,:]=(ampl,phase)
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plt.pause(.05)
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return (res[1,0]/res[0,0],res[1,1]-res[0,1])
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def bode_sine(self,openloop=True,motor=1,minFrq=1,maxFrq=300,numFrq=150,amp=10,file='/tmp/bode.npz'):
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if os.path.isfile(file):
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f=np.load(file)
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bode=f['bode']
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meta=f['meta'].item()
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meta['file']=file
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else:
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#motor 1 maximum: 13750
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#amp= percentage of maximum amplitude
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fig = plt.figure()
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ax = fig.add_subplot(1, 1, 1)
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frqLst=np.logspace(np.log10(minFrq),np.log10(maxFrq),numFrq)
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n=len(frqLst)
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#frqLst=(10,15,20,25,30)
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bode=np.ndarray((n,3))
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bode[:, 0]=frqLst
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#for i in range(n):
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for i in range(n-1,-1,-1):
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frq=frqLst[i]
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t=1
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rep=max(1,frq*t)
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self.fnLoc='/tmp/gather%d.txt'%i
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if openloop:
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data=self.do_command('openloopsine',motor,amp,frq,rep,0)
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else:
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data=self.do_command('sinusoidal',motor,amp,frq,rep,0)
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data=data[:,(1,2)]
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ax.clear()
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avg=data.mean(0)
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print(avg)
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ax.plot(data[:, 0]-avg[0] , 'b-', label='input')
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ax.plot(data[:, 1]-avg[1], 'g-', label='output')
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plt.pause(.05)
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bode[i,1:]=self.phase_amp(frq, rep)
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print('frq %g ampl %g phase %g'%tuple(bode[i,:]))
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plt.draw_all()
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meta={'motor':motor,'date':time.asctime()}
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np.savez_compressed(file, bode=bode, meta=meta)
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meta['file']=file
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self.bode_sine_plot(bode, meta)
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def bode_sine_plot(self,bode,meta):
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frq=bode[:,0]
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db_mag=20*np.log10(bode[:,1])
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phase=np.degrees(np.unwrap(bode[:,2]))# numpy.unwrap(p, discont=3.141592653589793, axis=-1)
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if phase[0]>0: phase-=360
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fig = plt.figure()
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fig.canvas.set_window_title(os.path.basename(meta['file']))
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ax = fig.add_subplot(2, 1, 1)
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ax.semilogx(frq, db_mag,'.-') # Bode magnitude plot
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ax.xaxis.set_label_text('dB Mag.')
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plt.grid(True)
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#ax.loglog(frqLst, bode[:,0],'.-') # Bode magnitude plot
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ax = fig.add_subplot(2, 1, 2)
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ax.semilogx(frq, phase,'.-') # Bode phase plot
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ax.xaxis.set_label_text('phase')
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plt.grid(True)
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def bode_chirp(self,openloop=True,motor=1,minFrq=10,maxFrq=150,tSec=30.,amp=10,mode=1,file='/tmp/gather.npz'):
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#amp= percentage of maximum amplitud
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if os.path.isfile(file):
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f=np.load(file)
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data=f['data']
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#try:
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meta=f['meta'].item()
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#except KeyError:
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# meta={'motor': motor, 'date': time.asctime(), 'minFrq': 10, 'maxFrq': 150, 'tSec': 30, 'amp': amp}
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# np.savez_compressed(file, data=data, meta=meta)
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meta['file']=file
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else:
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mode=1
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if openloop:
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data=self.do_command('openloopchirp',motor,amp,minFrq,maxFrq,tSec*1000,mode,0)
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else:
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#sinesweep, chirpmove?
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data=self.do_command('sinesweep', motor, amp, minFrq, maxFrq, tSec*1000, mode, 0)
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data = data[:, (1, 2)]
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meta={'motor':motor,'date':time.asctime(),'minFrq':minFrq,'maxFrq':maxFrq,'tSec':tSec,'amp':amp}
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np.savez_compressed(file, data=data, meta=meta)
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meta['file'] = file
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self.bode_chirp_plot(data, meta)
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def bode_chirp_plot(self, data, meta):
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tSec=meta['tSec']
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minFrq=meta['minFrq']
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maxFrq=meta['maxFrq']
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n=1000
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d=np.concatenate((np.ones(n-1)*data[0, 1],data[:, 1]))
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d=np.convolve(d,np.ones(n),'valid')/n
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data[:, 1]-=d
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#5..150 Hz
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#15 sec
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c = data[:,0]
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o=data[:,1]
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o-=o[0]
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t = np.linspace(0, tSec, data.shape[0], endpoint=True)
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n=data.shape[0]/2
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fig=plt.figure()
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fig.canvas.set_window_title(os.path.basename(meta['file']+' raw'))
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plt.plot(t, c)
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plt.plot(t, o)
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#bode_plot(o)
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#plt.show()
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#n samples
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#t1 seconds
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#ts=t1/(2*n)#samplingperiode =t[1]-t[0]
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#w_k=2*pi*k/T
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#w=2*np.pi*np.arange(n+1)/t1*(2*n)
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i=int(minFrq*tSec); j=int(maxFrq*tSec); #print(w[i],w[j])
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w=np.arange(n+1)/tSec #Hz
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w=w[i:j+1]
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#w*=2.*np.pi #rad/sec
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fig=plt.figure()
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fig.canvas.set_window_title(os.path.basename(meta['file']+' bode'))
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ftX=np.fft.rfft(c)
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ftY=np.fft.rfft(o)
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ft=ftY/ftX
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phase=np.angle(ft)
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phase=np.degrees(np.unwrap(phase[i:j+1]))
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#magDb=10*np.log10(np.abs(ft)) #in decibel
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mag=np.abs(ftY)/np.abs(ftX)
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magDb=20*np.log10(mag[i:j+1]) #in decibel (20=10*2: factor 2 because rfft only half)
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#magDb=np.abs(ftY)/np.abs(ftX)
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ax=plt.subplot(2,1,1)
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ax.semilogx(w,magDb,'b') # Bode magnitude plot
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#ax.plot(w,magDb) # Bode magnitude plot
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ax.axvline(minFrq,c='k');ax.axvline(maxFrq,c='k')
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ax.grid(True)
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ax=plt.subplot(2,1,2)
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ax.semilogx(w,phase,'b') # Bode phase plot
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ax.yaxis.set_label_text('Amplitude [dB]')
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#ax.set_ylim(phase[i],phase[j])
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ax.grid(True)
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ax.xaxis.set_label_text('Frequency [Hz]')
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ax.yaxis.set_label_text('Phase [degree]')
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#plt.axvline(x=0.22058956)
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#plt.show()
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#meta={'motor':motor,'date':time.asctime()}
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#np.savez_compressed(file, bode=bode, meta=meta)
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if __name__=='__main__':
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from argparse import ArgumentParser,RawDescriptionHelpFormatter
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def parse_args():
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'main command line interpreter function'
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#usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
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(h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' '
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exampleCmd=('-n',
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'-v15'
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)
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epilog=__doc__+'''
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Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
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parser=ArgumentParser(epilog=epilog,formatter_class=RawDescriptionHelpFormatter)
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parser.add_argument('--plot', nargs='*')
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parser.add_argument('--host', help='hostname', metavar='HOST')
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parser.add_argument('--verbose', '-v', type=int, help='verbosity bits (see below)', default=0)
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parser.add_argument('--dryrun', '-n', action='store_true', help='dryrun to stdout')
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parser.add_argument('--mode', '-m', type=int, help='modes (see below)', default=1)
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parser.add_argument('--mot', type=int, help='motor', default=1)
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parser.add_argument('--tag', help='tag', default='')
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args=parser.parse_args()
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#plt.ion()
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tune=PBTuning(args)
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base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBTuning/'
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if args.plot:
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#display bode plots
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for fn in args.plot:
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if os.path.basename(fn).startswith('sine_ol_mot'):
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tune.bode_sine(openloop=True,file=fn)
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if os.path.basename(fn).startswith('chirp_ol_mot'):
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tune.bode_chirp(openloop=True,file=fn)
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if os.path.basename(fn).startswith('sine_cl_mot'):
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tune.bode_sine(openloop=False, file=fn)
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if os.path.basename(fn).startswith('chirp_cl_mot'):
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tune.bode_chirp(openloop=False, file=fn)
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plt.show()
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return
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mode=args.mode
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tag=args.tag
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mot=args.mot
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if mode==1:
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ol=True
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file=os.path.join(base,'sine_ol_mot%d_%s.npz'%(mot,tag))
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#def bode_sine(self, openloop=True, motor=1, minFrq=1, maxFrq=300, numFrq=150, amp=10, file='/tmp/bode.npz'):
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tune.bode_sine(openloop=True,file=file,motor=mot)
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elif mode==2:
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file=os.path.join(base,'chirp_ol_mot%d_%s.npz'%(mot,tag))
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tune.bode_chirp(openloop=True,file=file,motor=mot,maxFrq=500)
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elif mode==3:
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ol=True
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file=os.path.join(base,'sine_cl_mot%d_%s.npz'%(mot,tag))
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tune.bode_sine(openloop=False,file=file,motor=mot)
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elif mode==4:
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file=os.path.join(base,'chirp_cl_mot%d_%s.npz'%(mot,tag))
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tune.bode_chirp(openloop=False,file=file,motor=mot)
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#tune.do_command('stepmove',1,100,500,0,0)
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plt.show()
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#------------------ Main Code ----------------------------------
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#ssh_test()
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ret=parse_args()
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exit(ret)
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