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Add time plot

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Brendan Haines 2020-03-02 19:45:04 -07:00
parent 46dba2f32c
commit 3a094e44d3
1 changed files with 34 additions and 15 deletions
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49
Software/python/hwtest.py
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@ -55,32 +55,37 @@ def get_normalized_reflectivity(chan):
brightness_idx = np.arange(8) brightness_idx = np.arange(8)
brightness = [get_normalized_reflectivity(c) for c in range(8)] brightness = [get_normalized_reflectivity(c) for c in range(8)]
t = np.array([])
error = np.array([])
plt_data = dict(x=brightness_idx, y=brightness) brightness_plot_source = ColumnDataSource(data=dict(sensor=brightness_idx, brightness=brightness))
plt_source = ColumnDataSource(data=plt_data) time_plot_source = ColumnDataSource(data=dict(t=t, e=error))
# Set up plot # Set up plots
plot = figure(plot_height=400, plot_width=400, title="Reflectivity", brightness_plot = figure(plot_height=150, plot_width=400, title="Reflectivity", x_range=[0, 7], y_range=[0, 1])
x_range=[0, 7], y_range=[0, 1]) brightness_plot.line('sensor', 'brightness', source=brightness_plot_source, line_width=3)
brightness_plot.circle('sensor', 'brightness', source=brightness_plot_source, size=8, fill_color="white", line_width=2)
plot.line('x', 'y', source=plt_source, line_width=3) time_plot = figure(plot_height=400, plot_width=400, title="Signals")
plot.circle('x', 'y', source=plt_source, size=8, fill_color="white", line_width=2) time_plot.line('t', 'e', source=time_plot_source, line_width=3, line_alpha=0.6)
def update_plot(attrname=None, old=None, new=None): def update_plots(attrname=None, old=None, new=None):
global brightness global brightness
global plt_data global error
plt_data = dict(x=brightness_idx, y=brightness) global brightness_plot_source
plt_source.data = plt_data brightness_plot_source.data = dict(sensor=brightness_idx, brightness=brightness)
time_plot_source.data = dict(t=t, e=error)
def cal_white(attrname=None, old=None, new=None): def cal_white(attrname=None, old=None, new=None):
global white_cal global white_cal
white_cal = [get_reflectivity(c) for c in range(8)] white_cal = [get_reflectivity(c) for c in range(8)]
update_plot() update_plots()
def cal_black(attrname=None, old=None, new=None): def cal_black(attrname=None, old=None, new=None):
global black_cal global black_cal
black_cal = [get_reflectivity(c) for c in range(8)] black_cal = [get_reflectivity(c) for c in range(8)]
update_plot() update_plots()
cal_white_button = Button(label="Cal White") cal_white_button = Button(label="Cal White")
cal_white_button.on_click(cal_white) cal_white_button.on_click(cal_white)
@ -91,14 +96,28 @@ controls = column(cal_white_button, cal_black_button)
curdoc().add_root(row(controls, plot, width=800)) curdoc().add_root(row(controls, plot, width=800))
curdoc().title = "TriangleBot Control Panel" curdoc().title = "TriangleBot Control Panel"
curdoc().add_periodic_callback(update_plot, 250) curdoc().add_periodic_callback(update_plots, 250)
def control_thread(): def control_thread():
global brightness global brightness
global t
global error
sample_interval = 0.01
while True: while True:
time.sleep(0.01) # TODO: replace sleep statement with something that doesn't depend on execution time of loop
time.sleep(sample_interval)
if len(time) == 0:
this_time = 0
else:
this_time = t[-1] + sample_interval
brightness = np.clip([get_normalized_reflectivity(c) for c in range(8)], 0, 1) brightness = np.clip([get_normalized_reflectivity(c) for c in range(8)], 0, 1)
line_position = np.sum((1 - brightness) * (np.arange(8) - 3.5))/np.sum(1-brightness) line_position = np.sum((1 - brightness) * (np.arange(8) - 3.5))/np.sum(1-brightness)
# TODO: implement control stuff and drive outputs
t = np.concatenate((t, this_time))
error = np.concatenate((error, line_position))
if DEBUG: if DEBUG:
for b in brightness: for b in brightness:
print(f"{b:1.2f}\t", end="") print(f"{b:1.2f}\t", end="")