def main(start_spd, end_spd, steps, direction):
"""
Performs a motor deadband test, prints the result, and saves the data to a csv.
"""
read_frq = 300 # Frequency of reads
settle_period = 2 # Specify time (s) to let motor settle before assessing deadband
moving_threshold = 10 # Number of ticks/second to consider the motor to have left the deadband
comms = PIC_USB(0x0005)
read_period = 1/float(read_frq)
motor_speed = start_spd
motor_dir = direction
data = []
prev_read_quad_time = time.clock()
prev_quad_counter = comms.get_quad_info()["counter"]
speeds = range(start_spd, end_spd, steps)
for spd in speeds:
set_start = time.clock()
print("\tSetting motor speed to {}.".format(spd))
comms.command_dcmotor(spd, motor_dir)
motor_speed = spd
while time.clock() - set_start < settle_period:
this_read = {}
read_start = time.clock()
quad_info = comms.get_quad_info()
this_read["time"] = read_start
this_read["motor_speed_cmd"] = motor_speed
this_read["motor_dir_cmd"] = motor_dir
this_read["quad_counter"] = quad_info["counter"]
this_read["quad_overflow"] = quad_info["overflow"]
this_read["quad_calc_speed"] = abs(quad_info["counter"] - prev_quad_counter) / (read_start - prev_read_quad_time)
data.append(this_read)
prev_read_quad_time = read_start
prev_quad_counter = quad_info["counter"]
while time.clock() - read_start < read_period:
pass
# After motor has "settled"
settle_check_time = time.clock()
quad_info = comms.get_quad_info()
settle_vel = abs(quad_info["counter"] - prev_quad_counter) / (settle_check_time - prev_read_quad_time)
if settle_vel > moving_threshold:
print("\tDeadband end identified at speed {}.".format(spd))
break
print("\tTest Concluded. Writing data...")
filename = "deadband_{0}-{1}_steps{2}_{3}".format(start_spd, end_spd, steps, direction)
headers = ["time", "motor_speed_cmd", "motor_dir_cmd", "quad_counter", "quad_overflow", "quad_calc_speed"]
with open("data/{}.csv".format(filename), 'wb') as out_data:
writer = DictWriter(out_data, fieldnames=headers)
writer.writeheader()
writer.writerows(data)
print("\tData saved to \"data/{}.csv\"".format(filename))
print("ENDING DEADBAND TEST")
def main(start_vel, end_vel):
"""
Performs a step response test and saves the data to a csv.
"""
test_len = 10 # Length of test in seconds.
read_frq = 100 # Frequency of reads
step_time = 1 # Time (in sec) at which to perform step.
comms = PIC_USB(0x0005)
read_period = 1/float(read_frq)
STEPPED = False
motor_speed = start_vel[0]
motor_dir = start_vel[1]
print("STARTING STEP RESPONSE TEST")
data = []
print("\tStarting at speed {}, dir {}".format(motor_speed, motor_dir))
comms.command_dcmotor(motor_speed, motor_dir)
test_start_time = time.clock()
prev_read_quad_time = test_start_time
prev_quad_counter = comms.get_quad_info()["counter"]
while time.clock() - test_start_time < test_len:
read_start = time.clock()
this_read = {}
if read_start > step_time and not STEPPED:
motor_speed = end_vel[0]
motor_dir = end_vel[1]
print("\tStepping to speed {}, dir {}".format(motor_speed, motor_dir))
comms.command_dcmotor(motor_speed, motor_dir)
STEPPED = True
read_quad_time = time.clock()
quad_info = comms.get_quad_info()
this_read["time"] = read_quad_time
this_read["motor_speed_cmd"] = motor_speed
this_read["motor_dir_cmd"] = motor_dir
this_read["quad_counter"] = quad_info["counter"]
this_read["quad_overflow"] = quad_info["overflow"]
this_read["quad_calc_speed"] = abs(quad_info["counter"] - prev_quad_counter) / (read_quad_time - prev_read_quad_time)
data.append(this_read)
prev_read_quad_time = read_quad_time
prev_quad_counter = quad_info["counter"]
while time.clock() - read_start < read_period:
pass
print("\tTest Concluded. Writing data...")
filename = "step_response_{0[0]}-{0[1]}_to_{1[0]}-{1[1]}".format(start_vel, end_vel)
headers = ["time", "motor_speed_cmd", "motor_dir_cmd", "quad_counter", "quad_overflow", "quad_calc_speed"]
with open("data/{}.csv".format(filename), 'wb') as out_data:
writer = DictWriter(out_data, fieldnames=headers)
writer.writeheader()
writer.writerows(data)
print("\tData saved to \"data/{}.csv\"".format(filename))
print("ENDING STEP RESPONSE TEST")
def main(start_spd, end_spd, steps, direction):
"""
Performs a motor deadband test, prints the result, and saves the data to a csv.
"""
read_frq = 300 # Frequency of reads
settle_period = 2 # Specify time (s) to let motor settle before assessing deadband
moving_threshold = 10 # Number of ticks/second to consider the motor to have left the deadband
comms = PIC_USB(0x0005)
read_period = 1 / float(read_frq)
motor_speed = start_spd
motor_dir = direction
data = []
prev_read_quad_time = time.clock()
prev_quad_counter = comms.get_quad_info()["counter"]
speeds = range(start_spd, end_spd, steps)
for spd in speeds:
set_start = time.clock()
print("\tSetting motor speed to {}.".format(spd))
comms.command_dcmotor(spd, motor_dir)
motor_speed = spd
while time.clock() - set_start < settle_period:
this_read = {}
read_start = time.clock()
quad_info = comms.get_quad_info()
this_read["time"] = read_start
this_read["motor_speed_cmd"] = motor_speed
this_read["motor_dir_cmd"] = motor_dir
this_read["quad_counter"] = quad_info["counter"]
this_read["quad_overflow"] = quad_info["overflow"]
this_read["quad_calc_speed"] = abs(
quad_info["counter"] -
prev_quad_counter) / (read_start - prev_read_quad_time)
data.append(this_read)
prev_read_quad_time = read_start
prev_quad_counter = quad_info["counter"]
while time.clock() - read_start < read_period:
pass
# After motor has "settled"
settle_check_time = time.clock()
quad_info = comms.get_quad_info()
settle_vel = abs(quad_info["counter"] - prev_quad_counter) / (
settle_check_time - prev_read_quad_time)
if settle_vel > moving_threshold:
print("\tDeadband end identified at speed {}.".format(spd))
break
print("\tTest Concluded. Writing data...")
filename = "deadband_{0}-{1}_steps{2}_{3}".format(start_spd, end_spd,
steps, direction)
headers = [
"time", "motor_speed_cmd", "motor_dir_cmd", "quad_counter",
"quad_overflow", "quad_calc_speed"
]
with open("data/{}.csv".format(filename), 'wb') as out_data:
writer = DictWriter(out_data, fieldnames=headers)
writer.writeheader()
writer.writerows(data)
print("\tData saved to \"data/{}.csv\"".format(filename))
print("ENDING DEADBAND TEST")
def main(start_vel, end_vel):
"""
Performs a step response test and saves the data to a csv.
"""
test_len = 10 # Length of test in seconds.
read_frq = 100 # Frequency of reads
step_time = 1 # Time (in sec) at which to perform step.
comms = PIC_USB(0x0005)
read_period = 1 / float(read_frq)
STEPPED = False
motor_speed = start_vel[0]
motor_dir = start_vel[1]
print("STARTING STEP RESPONSE TEST")
data = []
print("\tStarting at speed {}, dir {}".format(motor_speed, motor_dir))
comms.command_dcmotor(motor_speed, motor_dir)
test_start_time = time.clock()
prev_read_quad_time = test_start_time
prev_quad_counter = comms.get_quad_info()["counter"]
while time.clock() - test_start_time < test_len:
read_start = time.clock()
this_read = {}
if read_start > step_time and not STEPPED:
motor_speed = end_vel[0]
motor_dir = end_vel[1]
print("\tStepping to speed {}, dir {}".format(
motor_speed, motor_dir))
comms.command_dcmotor(motor_speed, motor_dir)
STEPPED = True
read_quad_time = time.clock()
quad_info = comms.get_quad_info()
this_read["time"] = read_quad_time
this_read["motor_speed_cmd"] = motor_speed
this_read["motor_dir_cmd"] = motor_dir
this_read["quad_counter"] = quad_info["counter"]
this_read["quad_overflow"] = quad_info["overflow"]
this_read["quad_calc_speed"] = abs(
quad_info["counter"] - prev_quad_counter) / (read_quad_time -
prev_read_quad_time)
data.append(this_read)
prev_read_quad_time = read_quad_time
prev_quad_counter = quad_info["counter"]
while time.clock() - read_start < read_period:
pass
print("\tTest Concluded. Writing data...")
filename = "step_response_{0[0]}-{0[1]}_to_{1[0]}-{1[1]}".format(
start_vel, end_vel)
headers = [
"time", "motor_speed_cmd", "motor_dir_cmd", "quad_counter",
"quad_overflow", "quad_calc_speed"
]
with open("data/{}.csv".format(filename), 'wb') as out_data:
writer = DictWriter(out_data, fieldnames=headers)
writer.writeheader()
writer.writerows(data)
print("\tData saved to \"data/{}.csv\"".format(filename))
print("ENDING STEP RESPONSE TEST")