adipu/guadaloop_lev_control
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This commit is contained in:
pulipakaa24
2026-04-17 10:37:13 -05:00
parent cef8106fd6
commit 58bc1a43d8
4 changed files with 57 additions and 20 deletions
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27
heave_plotter.py
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@@ -2,7 +2,7 @@
"""
Minimal serial plotter for the HeaveOnly sketch.
Expects CSV lines at 2_000_000 baud: Front,Back,Avg,PWM,outputOn
Expects CSV lines at 2_000_000 baud: Front,Back,Avg,ActiveRef,PWM,outputOn
Key commands (focus the plot window):
0 → output off
1 → output on, PID
@@ -61,6 +61,7 @@ def main():
front = deque(maxlen=N)
back = deque(maxlen=N)
avg = deque(maxlen=N)
aref = deque(maxlen=N)
pwm = deque(maxlen=N)
on_buf = deque(maxlen=N)
@@ -69,6 +70,8 @@ def main():
l_front, = ax_mm.plot([], [], label='Front', color='tab:blue')
l_back, = ax_mm.plot([], [], label='Back', color='tab:orange')
l_avg, = ax_mm.plot([], [], label='Avg', color='k', lw=2)
l_aref, = ax_mm.plot([], [], label='ActiveRef', color='tab:green',
lw=1.2, ls='--')
ax_mm.set_ylabel('Gap (mm)')
ax_mm.grid(True, alpha=0.3)
ax_mm.legend(loc='upper right')
@@ -103,11 +106,11 @@ def main():
fig.canvas.mpl_connect('key_press_event', on_key)
ax_ref = fig.add_axes([0.10, 0.04, 0.15, 0.05])
tb_ref = TextBox(ax_ref, 'Ref (mm) ', initial='12.36')
tb_ref = TextBox(ax_ref, 'Ref (mm) ', initial='12')
ax_pid = fig.add_axes([0.50, 0.04, 0.30, 0.05])
tb_pid = TextBox(ax_pid, 'PID (kp,ki,kd) ', initial='10,0,8')
tb_pid = TextBox(ax_pid, 'PID (kp,ki,kd) ', initial='400,0,300')
ax_ff = fig.add_axes([0.88, 0.03, 0.08, 0.07])
cb_ff = CheckButtons(ax_ff, ['FF'], [True])
cb_ff = CheckButtons(ax_ff, ['FF'], [False])
def on_ref(text):
try:
@@ -139,29 +142,31 @@ def main():
raw = ser.readline()
try:
parts = raw.decode('ascii', 'ignore').strip().split(',')
if len(parts) != 5:
if len(parts) != 6:
continue
f, b, a = float(parts[0]), float(parts[1]), float(parts[2])
p = int(parts[3])
on = int(parts[4])
f, b, a, r = (float(parts[0]), float(parts[1]),
float(parts[2]), float(parts[3]))
p = int(parts[4])
on = int(parts[5])
except ValueError:
continue
t_buf.append(time.time() - t0)
front.append(f); back.append(b); avg.append(a)
front.append(f); back.append(b); avg.append(a); aref.append(r)
pwm.append(p); on_buf.append(on)
def update(_frame):
poll_serial()
if not t_buf:
return l_front, l_back, l_avg, l_pwm, mode_txt
return l_front, l_back, l_avg, l_aref, l_pwm, mode_txt
xs = list(t_buf)
l_front.set_data(xs, list(front))
l_back .set_data(xs, list(back))
l_avg .set_data(xs, list(avg))
l_aref .set_data(xs, list(aref))
l_pwm .set_data(xs, list(pwm))
ax_mm.relim(); ax_mm.autoscale_view(scalex=True, scaley=True)
ax_pwm.set_xlim(xs[0], max(xs[-1], xs[0] + 1e-3))
return l_front, l_back, l_avg, l_pwm, mode_txt
return l_front, l_back, l_avg, l_aref, l_pwm, mode_txt
ani = FuncAnimation(fig, update, interval=50, blit=False,
cache_frame_data=False)