A hacky script to generate a plot of a trapezoidal motion profile
| import numpy as np | |
| import matplotlib.pyplot as plt | |
| x = np.linspace(0, 10, 1000) | |
| pdot = np.piecewise(x, [x < 4, (x >= 4) & (x <= 6), x > 6], [lambda x: x/2, 2, lambda x: -x/2 + 5]) | |
| p = [] | |
| psum = 0 | |
| for v in pdot: | |
| p.append(psum) | |
| psum += v | |
| plt.plot(pdot) | |
| plt.ylim([0,2.5]) | |
| plt.show() | |
| plt.plot(p) | |
| plt.show() |
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