optimize rc control
This commit is contained in:
parent
67f0a2cf7e
commit
681e33b355
|
|
@ -59,7 +59,9 @@
|
|||
"width": 0.0
|
||||
}
|
||||
],
|
||||
"drc_exclusions": [],
|
||||
"drc_exclusions": [
|
||||
"lib_footprint_mismatch|93919000|108539000|df2709a9-a255-4f53-9496-85732562ad08|00000000-0000-0000-0000-000000000000"
|
||||
],
|
||||
"meta": {
|
||||
"version": 2
|
||||
},
|
||||
|
|
|
|||
|
|
@ -10551,16 +10551,6 @@
|
|||
)
|
||||
(uuid "bcfd5886-f378-4947-9815-f92d60528bcf")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 201.93 92.71) (xy 201.93 34.29)
|
||||
)
|
||||
(stroke
|
||||
(width 0)
|
||||
(type default)
|
||||
)
|
||||
(uuid "beaa63fa-5d4b-4486-b3ce-f0f5f5c78409")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 49.53 96.52) (xy 69.85 96.52)
|
||||
|
|
@ -10831,16 +10821,6 @@
|
|||
)
|
||||
(uuid "dde8619c-5a8c-40eb-9845-65e6a654222d")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 201.93 34.29) (xy 231.14 34.29)
|
||||
)
|
||||
(stroke
|
||||
(width 0)
|
||||
(type default)
|
||||
)
|
||||
(uuid "de2cede1-ffa3-413c-9082-8bda9711045c")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 85.725 137.16) (xy 87.63 137.16)
|
||||
|
|
@ -11011,16 +10991,6 @@
|
|||
)
|
||||
(uuid "e848cb4e-e9be-4642-b62e-cfdc7033410f")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 215.9 92.71) (xy 201.93 92.71)
|
||||
)
|
||||
(stroke
|
||||
(width 0)
|
||||
(type default)
|
||||
)
|
||||
(uuid "e95e6a1a-6ffa-4e61-b05c-fa534f81f2cf")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 26.67 34.29) (xy 24.13 34.29)
|
||||
|
|
@ -11540,16 +11510,6 @@
|
|||
)
|
||||
(uuid "cee2f43a-7d22-4585-a857-73949bd17a9d")
|
||||
)
|
||||
(text "Bodge Wire added for PPM"
|
||||
(exclude_from_sim no)
|
||||
(at 212.852 33.782 0)
|
||||
(effects
|
||||
(font
|
||||
(size 1.27 1.27)
|
||||
)
|
||||
)
|
||||
(uuid "d8eede4c-b42c-44f8-a357-19b17939766b")
|
||||
)
|
||||
(text "black"
|
||||
(exclude_from_sim no)
|
||||
(at 60.325 99.06 0)
|
||||
|
|
|
|||
|
|
@ -14,6 +14,7 @@
|
|||
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
|
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
|
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/PulsePosition",
|
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
|
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
|
||||
|
|
@ -129,6 +130,7 @@
|
|||
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
|
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
|
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/PulsePosition",
|
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
|
||||
"/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
|
||||
"/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
|
||||
|
|
|
|||
|
|
@ -1,3 +1,48 @@
|
|||
{
|
||||
"cmake.configureOnOpen": false
|
||||
"cmake.configureOnOpen": false,
|
||||
"files.associations": {
|
||||
"algorithm": "cpp",
|
||||
"array": "cpp",
|
||||
"atomic": "cpp",
|
||||
"bit": "cpp",
|
||||
"*.tcc": "cpp",
|
||||
"cctype": "cpp",
|
||||
"clocale": "cpp",
|
||||
"cmath": "cpp",
|
||||
"compare": "cpp",
|
||||
"concepts": "cpp",
|
||||
"cstdarg": "cpp",
|
||||
"cstddef": "cpp",
|
||||
"cstdint": "cpp",
|
||||
"cstdio": "cpp",
|
||||
"cstdlib": "cpp",
|
||||
"cwchar": "cpp",
|
||||
"cwctype": "cpp",
|
||||
"deque": "cpp",
|
||||
"string": "cpp",
|
||||
"unordered_map": "cpp",
|
||||
"vector": "cpp",
|
||||
"exception": "cpp",
|
||||
"functional": "cpp",
|
||||
"iterator": "cpp",
|
||||
"memory": "cpp",
|
||||
"memory_resource": "cpp",
|
||||
"numeric": "cpp",
|
||||
"random": "cpp",
|
||||
"string_view": "cpp",
|
||||
"system_error": "cpp",
|
||||
"tuple": "cpp",
|
||||
"type_traits": "cpp",
|
||||
"utility": "cpp",
|
||||
"initializer_list": "cpp",
|
||||
"iosfwd": "cpp",
|
||||
"limits": "cpp",
|
||||
"new": "cpp",
|
||||
"numbers": "cpp",
|
||||
"ostream": "cpp",
|
||||
"stdexcept": "cpp",
|
||||
"streambuf": "cpp",
|
||||
"cinttypes": "cpp",
|
||||
"typeinfo": "cpp"
|
||||
}
|
||||
}
|
||||
|
|
@ -137,6 +137,17 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
|
|||
display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-16);
|
||||
display.print("km/h");
|
||||
|
||||
#ifdef RC
|
||||
display.setCursor(0,0);
|
||||
if (rc_fullcontrol_enabled) {
|
||||
display.print("RC Fullcontrol");
|
||||
}else if(rc_steer_enabled){
|
||||
display.print("RC Steering");
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
//A
|
||||
display.setCursor(SCREEN_WIDTH-37,1);
|
||||
static float averaged_filtered_currentAll;
|
||||
|
|
@ -471,7 +482,7 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
|
|||
|
||||
//Row 3
|
||||
display.print(F("Mode="));
|
||||
dtostrf(getRCMode(3),1,0,buf);
|
||||
dtostrf(getRCMode(6),1,0,buf);
|
||||
display.print((String)buf);
|
||||
display.print(F(" %="));
|
||||
dtostrf(getPPMSuccessrate(),1,5,buf);
|
||||
|
|
|
|||
|
|
@ -31,7 +31,8 @@ unsigned long last_ledupdate=0;
|
|||
|
||||
uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured
|
||||
|
||||
extern bool rc_enabled;
|
||||
extern bool rc_fullcontrol_enabled; //from rc.h
|
||||
extern bool rc_steer_enabled;
|
||||
|
||||
void led_dotcircle(unsigned long loopmillis);
|
||||
void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG);
|
||||
|
|
@ -111,7 +112,7 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
|
|||
}else{
|
||||
|
||||
if (armed) {
|
||||
if (rc_enabled) {
|
||||
if (rc_fullcontrol_enabled || rc_steer_enabled) {
|
||||
led_gauge(loopmillis,escFront.getCmdL(),0,1000,strip.Color(100, 0, 0, 0),strip.Color(0, 50, 50, 0));
|
||||
}else{ //normal driving
|
||||
if (loopmillis-last_notidle>5000) {
|
||||
|
|
|
|||
|
|
@ -35,19 +35,17 @@ int16_t getRCThrottle();
|
|||
int16_t getRCSteer();
|
||||
uint8_t getRCMode(uint8_t modes);
|
||||
|
||||
bool rc_enabled=false;
|
||||
bool rc_fullcontrol_enabled=false; //full remote control. can be cancelled by button press
|
||||
bool rc_steer_enabled=false; //only rc steering
|
||||
|
||||
void initRC() {
|
||||
ppmIn.begin(PIN_PPM);
|
||||
}
|
||||
|
||||
void readPPM(unsigned long loopmillis) {
|
||||
static unsigned long ppm_last_received=0;
|
||||
static unsigned long ppm_last_received_success=0;
|
||||
int ppm_num = ppmIn.available();
|
||||
if (ppm_num > 0) {
|
||||
bool ppm_ok=true;
|
||||
ppm_last_received=loopmillis;
|
||||
float new_ppm[PPM_CHANNELS];
|
||||
if (ppm_num != PPM_CHANNELS) {
|
||||
ppm_ok=false;
|
||||
|
|
@ -63,7 +61,6 @@ void readPPM(unsigned long loopmillis) {
|
|||
|
||||
if (ppm_ok) {
|
||||
ppm_count_success+=1;
|
||||
ppm_last_received_success=loopmillis;
|
||||
std::copy(std::begin(new_ppm), std::end(new_ppm), std::begin(ppm));
|
||||
}else{
|
||||
ppm_count_fail+=1;
|
||||
|
|
|
|||
|
|
@ -515,11 +515,11 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
|
||||
|
||||
#ifdef RC
|
||||
if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc mode
|
||||
rc_enabled=false;
|
||||
if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc fullcontrol mode
|
||||
rc_fullcontrol_enabled=false;
|
||||
}
|
||||
|
||||
if (rc_enabled) {
|
||||
if (rc_fullcontrol_enabled) {
|
||||
int16_t rcthrottle_pos=getRCThrottle();
|
||||
int16_t rcbrake_pos=getRCBrake();
|
||||
|
||||
|
|
@ -583,13 +583,25 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
cmd_send_toMotor_RR=_cmd_send_toMotor;
|
||||
|
||||
#ifdef RC
|
||||
int16_t differential_steering_max=100;
|
||||
int16_t differential_steering_max=200;
|
||||
|
||||
if (rc_enabled) {
|
||||
#define RC_STEER_ENABLE_WAITTIME 1000/SENDPERIOD*2; //in cycles. every SENDPERIOD
|
||||
static uint16_t rc_steer_enable_wait=0; //give some time to release buttons after arming with rc mode to not cancel immediately
|
||||
if (rc_steer_enabled) {
|
||||
if (rc_steer_enable_wait>0) {
|
||||
rc_steer_enable_wait--;
|
||||
}else{ //allow control when counter reached 0
|
||||
if (control_buttonA || control_buttonB) { //cancel rc modes by button press
|
||||
rc_fullcontrol_enabled=false;
|
||||
rc_steer_enabled=false;
|
||||
}
|
||||
float rcsteer=getRCSteer()/1000.0;
|
||||
cmd_send_toMotor_FL+=rcsteer*differential_steering_max;
|
||||
cmd_send_toMotor_FR-=rcsteer*differential_steering_max;
|
||||
}
|
||||
}else{
|
||||
rc_steer_enable_wait=RC_STEER_ENABLE_WAITTIME;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -671,22 +683,22 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
}
|
||||
|
||||
if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering
|
||||
cmd_send_toMotor_FL+=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FR-=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RL+=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RR-=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FL+=brake_pos_linear*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FR-=brake_pos_linear*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RL+=brake_pos_linear*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RR-=brake_pos_linear*steeringdifferential_speed;
|
||||
}else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering
|
||||
cmd_send_toMotor_FL-=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FR+=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RL-=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RR+=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FL-=brake_pos_linear*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FR+=brake_pos_linear*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RL-=brake_pos_linear*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RR+=brake_pos_linear*steeringdifferential_speed;
|
||||
}else if(tanksteering_prohibit_right && tanksteering_prohibit_left && !prohibit_reverse){ //no button on steering wheel pressed, drive backwards
|
||||
_cmd_send_toMotor-=brake_pos_expo*reverse_speed;
|
||||
int16_t cmd_send_brake=brake_pos_linear*reverse_speed;
|
||||
|
||||
cmd_send_toMotor_FL=_cmd_send_toMotor;
|
||||
cmd_send_toMotor_FR=_cmd_send_toMotor;
|
||||
cmd_send_toMotor_RL=_cmd_send_toMotor;
|
||||
cmd_send_toMotor_RR=_cmd_send_toMotor;
|
||||
cmd_send_toMotor_FL-=cmd_send_brake;
|
||||
cmd_send_toMotor_FR-=cmd_send_brake;
|
||||
cmd_send_toMotor_RL-=cmd_send_brake;
|
||||
cmd_send_toMotor_RR-=cmd_send_brake;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -763,13 +775,62 @@ void readButtons() {
|
|||
if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
|
||||
armed=true; //arm if button pressed long enough
|
||||
writeLogComment(loopmillis, "Armed by button");
|
||||
rc_enabled=false;
|
||||
rc_fullcontrol_enabled=false;
|
||||
rc_steer_enabled=false;
|
||||
if (control_buttonA && control_buttonB) { //button A and B is held down during start button press
|
||||
uint8_t rcmode=getRCMode(6);
|
||||
if (getRCThrottle()==0 && getRCBrake()==0) {
|
||||
switch (rcmode) {
|
||||
case 0:
|
||||
throttle_max=250;
|
||||
reverse_speed=0.15;
|
||||
max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
|
||||
writeLogComment(loopmillis, "Mode: RC 0");
|
||||
break;
|
||||
|
||||
case 1:
|
||||
throttle_max=250;
|
||||
reverse_speed=0.15;
|
||||
max_acceleration_rate=MEDIUM_MAX_ACCELERATION_RATE;
|
||||
rc_enabled=true;
|
||||
writeLogComment(loopmillis, "Mode: RC");
|
||||
writeLogComment(loopmillis, "Mode: RC 1");
|
||||
break;
|
||||
|
||||
case 2:
|
||||
throttle_max=300;
|
||||
reverse_speed=0.2;
|
||||
max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
|
||||
writeLogComment(loopmillis, "Mode: RC 2");
|
||||
break;
|
||||
|
||||
case 3:
|
||||
throttle_max=400;
|
||||
reverse_speed=0.25;
|
||||
max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
|
||||
writeLogComment(loopmillis, "Mode: RC 3");
|
||||
break;
|
||||
|
||||
case 4:
|
||||
throttle_max=600;
|
||||
reverse_speed=0.25;
|
||||
max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
|
||||
writeLogComment(loopmillis, "Mode: RC 4");
|
||||
break;
|
||||
|
||||
case 5:
|
||||
throttle_max=750;
|
||||
reverse_speed=0.25;
|
||||
max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
|
||||
writeLogComment(loopmillis, "Mode: RC 5");
|
||||
break;
|
||||
}
|
||||
|
||||
rc_fullcontrol_enabled=true;
|
||||
rc_steer_enabled=true;
|
||||
}else{
|
||||
writeLogComment(loopmillis, "Not Arming. RC throttle and brake not zero");
|
||||
armed=false;
|
||||
}
|
||||
|
||||
}else if (control_buttonA) { //button A is held down during start button press
|
||||
throttle_max=1000;
|
||||
reverse_speed=0.25;
|
||||
|
|
|
|||
|
|
@ -7,6 +7,13 @@ import numpy as np
|
|||
|
||||
import argparse
|
||||
|
||||
def mapRange(value, inMin, inMax, outMin, outMax,constrain=False):
|
||||
if constrain:
|
||||
return max(outMin, min(outMax, outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))))
|
||||
else:
|
||||
return outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))
|
||||
|
||||
|
||||
parser = argparse.ArgumentParser(description='Analyzes fixed csv logs from bobbycar')
|
||||
parser.add_argument('-i', '--input', type=argparse.FileType('r'), required=True, help="input csv log file")
|
||||
args = parser.parse_args()
|
||||
|
|
@ -17,6 +24,8 @@ x = df['timestamp']
|
|||
x = [i-x[0] for i in x] #offset time by starttime
|
||||
|
||||
|
||||
|
||||
def template():
|
||||
scattersize=1
|
||||
scatteralpha=0.1
|
||||
|
||||
|
|
@ -27,12 +36,21 @@ ax2 = ax1.twinx()
|
|||
|
||||
|
||||
#plt.scatter(x,df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="rpm_FrontL")
|
||||
ax1.plot(x,np.array(df['vbat_Front']), c='b', alpha=0.5, label="vbat_Front")
|
||||
ax1.plot(x,np.array(df['vbat_Rear']), c='r', alpha=0.5, label="vbat_Rear")
|
||||
ax2.plot(x,np.array(df['rpm_FrontL']), c='g', alpha=0.5, label="rpm_FrontL")
|
||||
#plt.plot(x,np.array(df['currentConsumed']), c='g', alpha=0.5, label="currentConsumed")
|
||||
ax1.plot(x,np.array(df['temp_Front']), c='#0000ff', alpha=0.5, label="temp_Front")
|
||||
ax1.plot(x,np.array(df['temp_Rear']), c='#ff0000', alpha=0.5, label="temp_Rear")
|
||||
ax1.plot(x,np.array(df['temp_Air']), c='#00ff00', alpha=0.5, label="temp_Air")
|
||||
#ax2.plot(x,np.array(df['throttle']), c='g', alpha=0.5, label="throttle")
|
||||
|
||||
#plt.scatter(x,df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="rpm_FrontR")
|
||||
|
||||
#confidence
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
#confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
|
||||
|
||||
|
||||
#ax1.scatter(df['cmd_FrontL'],df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="FrontL")
|
||||
#ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
|
||||
#ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
|
||||
|
||||
ax1.set_xlabel('timestamp')
|
||||
#plt.ylabel('data')
|
||||
|
|
@ -44,4 +62,53 @@ ax2.legend(loc='upper right')
|
|||
plt.show()
|
||||
|
||||
|
||||
def rpmDifference():
|
||||
scattersize=1
|
||||
scatteralpha=0.1
|
||||
|
||||
|
||||
fig, ax1 = plt.subplots()
|
||||
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
frontRPMdiff=np.convolve(np.array(df['rpm_FrontL'])-np.array(df['rpm_FrontR']), np.ones(10)/10, mode='same')
|
||||
rearRPMdiff=np.convolve(np.array(df['rpm_RearL'])-np.array(df['rpm_RearR']), np.ones(10)/10, mode='same')
|
||||
|
||||
ax1.plot(x,frontRPMdiff, c='#0000ff', alpha=0.5, label="rpm Difference Front")
|
||||
ax1.plot(x,rearRPMdiff, c='#00ff00', alpha=0.5, label="rpm Difference Rear")
|
||||
|
||||
ax1.set_xlabel('timestamp')
|
||||
ax1.set_ylabel('rpm Difference')
|
||||
ax1.legend(loc='upper left')
|
||||
plt.show()
|
||||
|
||||
|
||||
def plot_rpmVsCurrent():
|
||||
scattersize=2
|
||||
scatteralpha=0.5
|
||||
|
||||
#confidence
|
||||
#confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
|
||||
#confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
|
||||
|
||||
|
||||
|
||||
fig, ax1 = plt.subplots()
|
||||
ax1.scatter(df['rpm_FrontL'],df['current_FrontL'], s=5, alpha=scatteralpha, label="FrontL")
|
||||
ax1.scatter(df['rpm_FrontR'],df['current_FrontR'], s=5, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
|
||||
#ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
|
||||
#ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
|
||||
|
||||
ax1.set_xlabel('rpm')
|
||||
ax1.set_ylabel('current (A)')
|
||||
plt.title('rpm vs current')
|
||||
ax1.legend(loc='upper left')
|
||||
plt.show()
|
||||
|
||||
|
||||
#plot_rpmVsCurrent()
|
||||
rpmDifference()
|
||||
|
||||
|
||||
|
||||
exit()
|
||||
|
|
|
|||
Loading…
Reference in New Issue