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encoder_hw_generator.py
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encoder_hw_generator.py
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from pylab import *
from scipy import *
import misc_utils, rwkos
import os
import pylab_util
t = arange(0, 1.0, 0.01)
def create_enc(tlist,start_low=True):
if start_low:
sig=zeros(shape(t))
else:
sig=ones(shape(t))
curval=sig[0]
for ct in tlist:
ind=where(t>ct)
if ind:
sig[ind]=1-curval
curval=sig[ind[0]]
return sig
def create_case(A_list, B_list, A_start=0, B_start=0):
A = create_enc(A_list, start_low= not A_start)
B = create_enc(B_list, start_low= not B_start)
return A, B
def plot_case(A, B, fignum=1, asty='-', bsty='-', clear=True, **kwargs):
figure(fignum)
if clear:
clf()
plot(t, A, asty, t, B, bsty, **kwargs)
xlabel('Time (sec)')
ylabel('Encoder Signals')
ylim([-0.1, 1.1])
def save_case(filename, A, B):
misc_utils.dump_vectors(filename, [t, A, B], \
labels=['Time (sec)','Enc. A','Enc. B'])
if __name__ == '__main__':
#folder = rwkos.FindFullPath('mechatronics_2009/homework/encoders')
folder = rwkos.FindFullPath('~/458_2012/final_exam/figs')
outpat = 'encoders_case_%0.2d.txt'
## # case 11
## case = 11
## A_list = [0.1, 0.3, 0.7, 0.9]
## B_list = [0.2, 0.4, 0.6, 0.8]
## A, B = create_case(A_list, B_list, 0, 0)
## plot_case(A, B, case)
## curname = outpat % case
## outpath = os.path.join(folder, curname)
## save_case(outpath, A, B)
## # case 12
case = 12
A_list = [0.1, 0.3, 0.7, 0.9]
B_list = [0.2, 0.4, 0.6, 0.8]
## A, B = create_case(A_list, B_list, 1, 0)
## plot_case(A, B, case)
## curname = outpat % case
## outpath = os.path.join(folder, curname)
## save_case(outpath, A, B)
## # case 13
## case = 13
## A_list = [0.1, 0.3, 0.7, 0.9]
## B_list = [0.2, 0.4, 0.6]
## A, B = create_case(A_list, B_list, 0, 1)
## plot_case(A, B, fignum=case, bsty='--', linewidth=2.0)
## ylim([-0.1,1.3])
## legend(['A','B'])
## curname = outpat % case
## outpath = os.path.join(folder, curname)
## #save_case(outpath, A, B)
## # case 14
## case = 14
## A_list = [0.1, 0.3, 0.5, 0.7, 0.8]
## B_list = [0.2, 0.4, 0.6, 0.9]
## A, B = create_case(A_list, B_list, 1, 0)
## plot_case(A, B, fignum=case, bsty='--', linewidth=2.0)
## ylim([-0.1,1.3])
## legend(['A','B'])
## curname = outpat % case
## fno, ext = os.path.splitext(curname)
## pdfname = fno + '.pdf'
## pdfpath = os.path.join(folder, pdfname)
## outpath = os.path.join(folder, curname)
## save_case(outpath, A, B)
## pylab_util.mysave(pdfpath)
# case 15
## case = 17
## B_list = [0.1, 0.3, 0.5, 0.7]
## A_list = [0.4, 0.6, 0.8, 0.9]
## case = 18
## B_list = [0.1, 0.3, 0.5, 0.8]
## A_list = [0.2, 0.4, 0.6, 0.7]
A, B = create_case(A_list, B_list, 0, 1)
A_shift = A + 0.0075
plot_case(A_shift, B, fignum=case, bsty='--', linewidth=2.0)
grid(1)
ylim([-0.1,1.3])
legend(['A','B'])
curname = outpat % case
fno, ext = os.path.splitext(curname)
pdfname = fno + '.pdf'
pdfpath = os.path.join(folder, pdfname)
outpath = os.path.join(folder, curname)
save_case(outpath, A, B)
pylab_util.mysave(pdfpath)
show()