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prevent issues with x,y lengths differing on plots

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Brendan Haines 2020-03-02 20:00:17 -07:00
parent 6cad2b628e
commit 7f55e5f172
1 changed files with 7 additions and 9 deletions
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16
Software/python/hwtest.py
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@ -55,18 +55,17 @@ 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([]) time_data = np.empty((0,2))
error = np.array([])
brightness_plot_source = ColumnDataSource(data=dict(sensor=brightness_idx, brightness=brightness)) brightness_plot_source = ColumnDataSource(data=dict(sensor=brightness_idx, brightness=brightness))
time_plot_source = ColumnDataSource(data=dict(t=t, e=error)) time_plot_source = ColumnDataSource(data=dict(t=time_data[:,0], e=time_data[:,1]))
# Set up plots # Set up plots
brightness_plot = figure(plot_height=150, plot_width=400, title="Reflectivity", x_range=[0, 7], y_range=[0, 1]) brightness_plot = figure(plot_height=150, plot_width=400, title="Reflectivity", x_range=[0, 7], y_range=[0, 1])
brightness_plot.line('sensor', 'brightness', source=brightness_plot_source, line_width=3) 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) brightness_plot.circle('sensor', 'brightness', source=brightness_plot_source, size=8, fill_color="white", line_width=2)
time_plot = figure(plot_height=400, plot_width=1000, title="Signals", y_range=[-3.5, 3.5]) time_plot = figure(plot_height=400, plot_width=800, title="Signals", y_range=[-3.5, 3.5])
time_plot.line('t', 'e', source=time_plot_source, line_width=3, line_alpha=0.6) time_plot.line('t', 'e', source=time_plot_source, line_width=3, line_alpha=0.6)
def update_plots(attrname=None, old=None, new=None): def update_plots(attrname=None, old=None, new=None):
@ -93,14 +92,13 @@ cal_black_button = Button(label="Cal Black")
cal_black_button.on_click(cal_black) cal_black_button.on_click(cal_black)
controls = column(cal_white_button, cal_black_button) controls = column(cal_white_button, cal_black_button)
curdoc().add_root(column(row(controls, brightness_plot), time_plot)) curdoc().add_root(column(row(controls, brightness_plot, width=800), time_plot))
curdoc().title = "TriangleBot Control Panel" curdoc().title = "TriangleBot Control Panel"
curdoc().add_periodic_callback(update_plots, 250) curdoc().add_periodic_callback(update_plots, 250)
def control_thread(): def control_thread():
global brightness global brightness
global t global time_data
global error
sample_interval = 0.01 sample_interval = 0.01
while True: while True:
# TODO: replace sleep statement with something that doesn't depend on execution time of loop # TODO: replace sleep statement with something that doesn't depend on execution time of loop
@ -114,8 +112,8 @@ def control_thread():
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 # TODO: implement control stuff and drive outputs
t = np.append(t, this_time) new_time_data = [this_time, line_position]
error = np.append(error, line_position) time_data = np.concatenate((time_data, new_time_data)
if DEBUG: if DEBUG:
for b in brightness: for b in brightness: