def index():
data = get_data()
total_records = len(data)
return render_template("index.html",
data=data,
total_records=total_records)
def main():
data = get_data(db)
response = app.response_class(response=data,
status=200,
mimetype='application/json')
return response
import pyb
import utime
## A motor object
pinENA = pyb.Pin(pyb.Pin.board.PA10, pyb.Pin.OUT_PP)
pinIN1A = pyb.Pin(pyb.Pin.board.PB4, pyb.Pin.OUT_PP)
pinIN2A = pyb.Pin(pyb.Pin.board.PB5, pyb.Pin.OUT_PP)
motor = motor.MotorDriver([pinIN1A, pinIN2A, pinENA], 3, [1, 2])
## An encoder object
encoder = encoder.Encoder([pyb.Pin.board.PB6, pyb.Pin.board.PB7], 4, [1, 2])
## A controller object
controller = controller.Controller(K_p=0.10)
# # Positioner
# while(True):
# motor.set_duty_cycle(controller.run(encoder.read()))
# utime.sleep_ms(10)
# Step repsonse
while (True):
controller.clear_data()
input('Press "enter" to run a step response test!')
controller.set_setpoint(4000)
encoder.zero()
stop = utime.ticks_add(utime.ticks_ms(), 1000)
while (utime.ticks_diff(stop, utime.ticks_ms()) > 0):
motor.set_duty_cycle(controller.run(encoder.read()))
utime.sleep_ms(10)
motor.set_duty_cycle(0)
controller.get_data()
import numpy
from matplotlib import pyplot as plt
from matplotlib import animation
from controller import get_data
fig = plt.figure()
ax = plt.axes(xlim=(-1, 1), ylim=(-1, 1))
point, = ax.plot([], [], 'ro', lw=2)
fps = 100
data_generator = get_data()
numpy.random.seed(1)
wx = numpy.random.randn(8) * 2
wy = numpy.random.randn(8) * 2
x, y = 0, 0
# initialization function: plot the background of each frame. Repeats every second
def init():
point.set_data([], [])
return point,
# animation function. This is called sequentially
def animate(i):
global x
global y
data = next(data_generator)
x += numpy.dot(data, wx) * 0.0001
y += numpy.dot(data, wy) * 0.0001
point.set_data([x], [y])
def index():
url = request.args.get('url')
data = get_data(url)
return data