72 lines
1.7 KiB
Python
72 lines
1.7 KiB
Python
|
import csv
|
||
|
|
import threading
|
||
|
|
from time import perf_counter, sleep
|
||
|
|
import serial
|
||
|
|
serial = serial.Serial("COM5",baudrate=115200)
|
||
|
|
sleep(5)
|
||
|
|
serial.readline()
|
||
|
|
serial.readline()
|
||
|
|
serial.readline()
|
||
|
|
|
||
|
|
def set_pos(pos: float):
|
||
|
|
serial.write(("1"+str(pos)+";").encode("ascii"))
|
||
|
|
def set_velo(velo: float):
|
||
|
|
serial.write(("2"+str(velo)+";").encode("ascii"))
|
||
|
|
def set_Kp(Kp: float):
|
||
|
|
serial.write(("3"+str(Kp)+";").encode("ascii"))
|
||
|
|
def set_Kd(Kd: float):
|
||
|
|
serial.write(("4"+str(Kd)+";").encode("ascii"))
|
||
|
|
def reset_pos():
|
||
|
|
serial.write("5;".encode("ascii"))
|
||
|
|
|
||
|
|
global theta,theta_dot,time_stamp,current,data,start_time
|
||
|
|
theta = 0
|
||
|
|
theta_dot = 0
|
||
|
|
time_stamp = 0
|
||
|
|
start_time = 0
|
||
|
|
current = 0
|
||
|
|
data = []
|
||
|
|
def decode_packet(packet: bytes):
|
||
|
|
global theta,theta_dot,time_stamp,current,data,start_time
|
||
|
|
dp = packet.decode("ascii")
|
||
|
|
dspt = dp.split(',')
|
||
|
|
try:
|
||
|
|
time_stamp = float(dspt[0])
|
||
|
|
theta = float(dspt[2])
|
||
|
|
theta_dot = float(dspt[3])
|
||
|
|
current = float(dspt[4])
|
||
|
|
data.append([time_stamp-start_time,theta,theta_dot,current])
|
||
|
|
except:
|
||
|
|
pass
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
def read_serial():
|
||
|
|
global theta,theta_dot,time_stamp,current,data,start_time
|
||
|
|
while serial.in_waiting:
|
||
|
|
decode_packet(serial.readline())
|
||
|
|
threading.Thread(target=read_serial).start()
|
||
|
|
|
||
|
|
x_step = 2.0
|
||
|
|
record_dur = 10
|
||
|
|
Kp = 0
|
||
|
|
Kd = 0
|
||
|
|
|
||
|
|
|
||
|
|
dset = []
|
||
|
|
set_Kd(Kd)
|
||
|
|
set_Kp(Kp)
|
||
|
|
reset_pos()
|
||
|
|
set_pos(x_step)
|
||
|
|
start_time = time_stamp;
|
||
|
|
perf_start = perf_counter()
|
||
|
|
print("Recording Experiment for Kp = "+str(Kp)+", Kd = "+str(Kd))
|
||
|
|
while perf_counter()-perf_start < record_dur:
|
||
|
|
sleep(0.01)
|
||
|
|
f = open("vib_freespin_result_kp"+str(Kp)+"_kd"+str(Kd)+".csv", 'w', newline='')
|
||
|
|
writer = csv.writer(f)
|
||
|
|
writer.writerows(data)
|
||
|
|
f.close()
|
||
|
|
print("Program Completed!, Data Saved to CSV")
|
||
|
|
|