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serge-m/analyze_pwm_dump.ipynb

Created December 18, 2019 06:46
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PWM analysis with arduino
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analyze_pwm_dump.ipynb
{
"cells": [
{
"cell_type": "code",
"execution_count": 11,
"metadata": {},
"outputs": [],
"source": [
"import plotly.graph_objects as go\n",
"import numpy as np\n"
]
},
{
"cell_type": "code",
"execution_count": 12,
"metadata": {},
"outputs": [],
"source": [
"with open(\"./dump\") as f:\n",
" data = f.readlines()\n",
"data = [line.strip().replace(\"\\\\n'\", \"\").replace(\"b'in: \", \"\") \n",
" for line in data \n",
" if line.startswith(\"b'in:\")]"
]
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"source": [
"data[:4]"
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},
{
"cell_type": "code",
"execution_count": 15,
"metadata": {},
"outputs": [],
"source": [
"from io import StringIO \n",
"f= StringIO('\\n'.join(data))\n",
"import pandas as pd\n",
"\n",
"df = pd.read_csv(f, delimiter=\" \", skiprows=1, header=None, names=['steering', 'throttle'])\n",
"df['idx'] = df.index"
]
},
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"cell_type": "code",
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" <tr style=\"text-align: right;\">\n",
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" <th>steering</th>\n",
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"</div>"
],
"text/plain": [
" steering throttle idx\n",
"0 10304 10340 0\n",
"1 10340 10340 1\n",
"2 10340 10280 2\n",
"3 10284 10280 3\n",
"4 10284 10300 4\n",
"... ... ... ...\n",
"1913 10304 10296 1913\n",
"1914 10304 10316 1914\n",
"1915 10316 10316 1915\n",
"1916 10316 10300 1916\n",
"1917 10300 10300 1917\n",
"\n",
"[1918 rows x 3 columns]"
]
},
"execution_count": 16,
"metadata": {},
"output_type": "execute_result"
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],
"source": [
"df"
]
},
{
"cell_type": "code",
"execution_count": 17,
"metadata": {},
"outputs": [],
"source": [
"import matplotlib.pyplot as plt\n",
"%matplotlib inline"
]
},
{
"cell_type": "code",
"execution_count": 18,
"metadata": {},
"outputs": [
{
"data": {
"application/vnd.plotly.v1+json": {
"config": {
"plotlyServerURL": "https://plot.ly"
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{
"hoverlabel": {
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{\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}}, \"title\": {\"x\": 0.05}, \"xaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}, \"yaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}}}, \"xaxis\": {\"anchor\": \"y\", \"domain\": [0.0, 1.0], \"title\": {\"text\": \"idx\"}}, \"yaxis\": {\"anchor\": \"x\", \"domain\": [0.0, 1.0], \"title\": {\"text\": \"steering\"}}},\n",
" {\"responsive\": true}\n",
" ).then(function(){\n",
" \n",
"var gd = document.getElementById('0a4cb7d8-65e8-403d-8d38-3d5d36de1954');\n",
"var x = new MutationObserver(function (mutations, observer) {{\n",
" var display = window.getComputedStyle(gd).display;\n",
" if (!display || display === 'none') {{\n",
" console.log([gd, 'removed!']);\n",
" Plotly.purge(gd);\n",
" observer.disconnect();\n",
" }}\n",
"}});\n",
"\n",
"// Listen for the removal of the full notebook cells\n",
"var notebookContainer = gd.closest('#notebook-container');\n",
"if (notebookContainer) {{\n",
" x.observe(notebookContainer, {childList: true});\n",
"}}\n",
"\n",
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"if (outputEl) {{\n",
" x.observe(outputEl, {childList: true});\n",
"}}\n",
"\n",
" })\n",
" };\n",
" });\n",
" </script>\n",
" </div>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import plotly.express as px\n",
"fig = px.scatter(df, x=\"idx\", y=\"throttle\")\n",
"fig = px.scatter(df, x=\"idx\", y=\"steering\")\n",
"fig.show()"
]
},
{
"cell_type": "code",
"execution_count": 19,
"metadata": {},
"outputs": [
{
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{\"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\"}}, \"title\": {\"x\": 0.05}, \"xaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}, \"yaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}}}, \"xaxis\": {\"anchor\": \"y\", \"domain\": [0.0, 1.0], \"title\": {\"text\": \"idx\"}}, \"yaxis\": {\"anchor\": \"x\", \"domain\": [0.0, 1.0], \"title\": {\"text\": \"steering\"}}},\n",
" {\"responsive\": true}\n",
" ).then(function(){\n",
" \n",
"var gd = document.getElementById('6dab939d-2084-4e77-b9c8-24ca3dd204b7');\n",
"var x = new MutationObserver(function (mutations, observer) {{\n",
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" if (!display || display === 'none') {{\n",
" console.log([gd, 'removed!']);\n",
" Plotly.purge(gd);\n",
" observer.disconnect();\n",
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"\n",
"// Listen for the removal of the full notebook cells\n",
"var notebookContainer = gd.closest('#notebook-container');\n",
"if (notebookContainer) {{\n",
" x.observe(notebookContainer, {childList: true});\n",
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" x.observe(outputEl, {childList: true});\n",
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" });\n",
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" </div>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import plotly.express as px\n",
"fig = px.scatter(df, x=\"idx\", y=\"steering\")\n",
"fig.show()"
]
},
{
"cell_type": "code",
"execution_count": 25,
"metadata": {},
"outputs": [
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\"title\": {\"x\": 0.05}, \"xaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}, \"yaxis\": {\"automargin\": true, \"gridcolor\": \"white\", \"linecolor\": \"white\", \"ticks\": \"\", \"title\": {\"standoff\": 15}, \"zerolinecolor\": \"white\", \"zerolinewidth\": 2}}}},\n",
" {\"responsive\": true}\n",
" ).then(function(){\n",
" \n",
"var gd = document.getElementById('1790baba-251a-47ee-912f-591f7a7c565e');\n",
"var x = new MutationObserver(function (mutations, observer) {{\n",
" var display = window.getComputedStyle(gd).display;\n",
" if (!display || display === 'none') {{\n",
" console.log([gd, 'removed!']);\n",
" Plotly.purge(gd);\n",
" observer.disconnect();\n",
" }}\n",
"}});\n",
"\n",
"// Listen for the removal of the full notebook cells\n",
"var notebookContainer = gd.closest('#notebook-container');\n",
"if (notebookContainer) {{\n",
" x.observe(notebookContainer, {childList: true});\n",
"}}\n",
"\n",
"// Listen for the clearing of the current output cell\n",
"var outputEl = gd.closest('.output');\n",
"if (outputEl) {{\n",
" x.observe(outputEl, {childList: true});\n",
"}}\n",
"\n",
" })\n",
" };\n",
" });\n",
" </script>\n",
" </div>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"fig = go.Figure()\n",
"fig.add_trace(go.Scatter(x=df.idx, y=df.throttle,\n",
" mode='markers',\n",
" name='throttle'))\n",
"fig.add_trace(go.Scatter(x=df.idx, y=df.steering,\n",
" mode='markers',\n",
" name='steering'))\n",
"\n",
"fig.show()\n"
]
},
{
"cell_type": "code",
"execution_count": 26,
"metadata": {},
"outputs": [],
"source": [
"import plotly"
]
},
{
"cell_type": "code",
"execution_count": 27,
"metadata": {},
"outputs": [],
"source": [
"plotly.io.write_html(fig, \"pwm_visualization.html\")"
]
},
{
"cell_type": "code",
"execution_count": 86,
"metadata": {},
"outputs": [
{
"data": {
"text/html": [
"<div>\n",
"<style scoped>\n",
" .dataframe tbody tr th:only-of-type {\n",
" vertical-align: middle;\n",
" }\n",
"\n",
" .dataframe tbody tr th {\n",
" vertical-align: top;\n",
" }\n",
"\n",
" .dataframe thead th {\n",
" text-align: right;\n",
" }\n",
"</style>\n",
"<table border=\"1\" class=\"dataframe\">\n",
" <thead>\n",
" <tr style=\"text-align: right;\">\n",
" <th></th>\n",
" <th>steering</th>\n",
" <th>throttle</th>\n",
" <th>idx</th>\n",
" </tr>\n",
" </thead>\n",
" <tbody>\n",
" <tr>\n",
" <th>157</th>\n",
" <td>1400</td>\n",
" <td>10164</td>\n",
" <td>157</td>\n",
" </tr>\n",
" <tr>\n",
" <th>159</th>\n",
" <td>1380</td>\n",
" <td>10024</td>\n",
" <td>159</td>\n",
" </tr>\n",
" <tr>\n",
" <th>160</th>\n",
" <td>1380</td>\n",
" <td>1540</td>\n",
" <td>160</td>\n",
" </tr>\n",
" <tr>\n",
" <th>162</th>\n",
" <td>1384</td>\n",
" <td>10416</td>\n",
" <td>162</td>\n",
" </tr>\n",
" <tr>\n",
" <th>163</th>\n",
" <td>1384</td>\n",
" <td>1540</td>\n",
" <td>163</td>\n",
" </tr>\n",
" <tr>\n",
" <th>164</th>\n",
" <td>1384</td>\n",
" <td>8572</td>\n",
" <td>164</td>\n",
" </tr>\n",
" <tr>\n",
" <th>173</th>\n",
" <td>1400</td>\n",
" <td>6884</td>\n",
" <td>173</td>\n",
" </tr>\n",
" <tr>\n",
" <th>175</th>\n",
" <td>1384</td>\n",
" <td>10252</td>\n",
" <td>175</td>\n",
" </tr>\n",
" <tr>\n",
" <th>176</th>\n",
" <td>1384</td>\n",
" <td>1540</td>\n",
" <td>176</td>\n",
" </tr>\n",
" <tr>\n",
" <th>178</th>\n",
" <td>1384</td>\n",
" <td>10176</td>\n",
" <td>178</td>\n",
" </tr>\n",
" <tr>\n",
" <th>179</th>\n",
" <td>1384</td>\n",
" <td>1536</td>\n",
" <td>179</td>\n",
" </tr>\n",
" <tr>\n",
" <th>180</th>\n",
" <td>1384</td>\n",
" <td>8212</td>\n",
" <td>180</td>\n",
" </tr>\n",
" <tr>\n",
" <th>192</th>\n",
" <td>1384</td>\n",
" <td>7392</td>\n",
" <td>192</td>\n",
" </tr>\n",
" <tr>\n",
" <th>194</th>\n",
" <td>1384</td>\n",
" <td>10796</td>\n",
" <td>194</td>\n",
" </tr>\n",
" <tr>\n",
" <th>195</th>\n",
" <td>1384</td>\n",
" <td>1536</td>\n",
" <td>195</td>\n",
" </tr>\n",
" <tr>\n",
" <th>197</th>\n",
" <td>1380</td>\n",
" <td>10348</td>\n",
" <td>197</td>\n",
" </tr>\n",
" <tr>\n",
" <th>198</th>\n",
" <td>1380</td>\n",
" <td>1540</td>\n",
" <td>198</td>\n",
" </tr>\n",
" <tr>\n",
" <th>199</th>\n",
" <td>1380</td>\n",
" <td>7740</td>\n",
" <td>199</td>\n",
" </tr>\n",
" <tr>\n",
" <th>208</th>\n",
" <td>1380</td>\n",
" <td>7800</td>\n",
" <td>208</td>\n",
" </tr>\n",
" <tr>\n",
" <th>210</th>\n",
" <td>1380</td>\n",
" <td>11184</td>\n",
" <td>210</td>\n",
" </tr>\n",
" <tr>\n",
" <th>211</th>\n",
" <td>1380</td>\n",
" <td>1540</td>\n",
" <td>211</td>\n",
" </tr>\n",
" <tr>\n",
" <th>213</th>\n",
" <td>1384</td>\n",
" <td>10312</td>\n",
" <td>213</td>\n",
" </tr>\n",
" <tr>\n",
" <th>214</th>\n",
" <td>1384</td>\n",
" <td>1540</td>\n",
" <td>214</td>\n",
" </tr>\n",
" <tr>\n",
" <th>215</th>\n",
" <td>1384</td>\n",
" <td>7372</td>\n",
" <td>215</td>\n",
" </tr>\n",
" <tr>\n",
" <th>224</th>\n",
" <td>1384</td>\n",
" <td>8188</td>\n",
" <td>224</td>\n",
" </tr>\n",
" <tr>\n",
" <th>226</th>\n",
" <td>1380</td>\n",
" <td>11564</td>\n",
" <td>226</td>\n",
" </tr>\n",
" <tr>\n",
" <th>227</th>\n",
" <td>1380</td>\n",
" <td>1540</td>\n",
" <td>227</td>\n",
" </tr>\n",
" <tr>\n",
" <th>229</th>\n",
" <td>1384</td>\n",
" <td>10320</td>\n",
" <td>229</td>\n",
" </tr>\n",
" <tr>\n",
" <th>230</th>\n",
" <td>1384</td>\n",
" <td>1536</td>\n",
" <td>230</td>\n",
" </tr>\n",
" <tr>\n",
" <th>231</th>\n",
" <td>1384</td>\n",
" <td>7008</td>\n",
" <td>231</td>\n",
" </tr>\n",
" <tr>\n",
" <th>...</th>\n",
" <td>...</td>\n",
" <td>...</td>\n",
" <td>...</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1711</th>\n",
" <td>1380</td>\n",
" <td>1536</td>\n",
" <td>1711</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1712</th>\n",
" <td>1380</td>\n",
" <td>7928</td>\n",
" <td>1712</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1721</th>\n",
" <td>1404</td>\n",
" <td>7584</td>\n",
" <td>1721</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1723</th>\n",
" <td>1380</td>\n",
" <td>10608</td>\n",
" <td>1723</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1724</th>\n",
" <td>1380</td>\n",
" <td>1540</td>\n",
" <td>1724</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1727</th>\n",
" <td>1384</td>\n",
" <td>10256</td>\n",
" <td>1727</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1728</th>\n",
" <td>1384</td>\n",
" <td>1540</td>\n",
" <td>1728</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1729</th>\n",
" <td>1384</td>\n",
" <td>7568</td>\n",
" <td>1729</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1739</th>\n",
" <td>1384</td>\n",
" <td>8004</td>\n",
" <td>1739</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1741</th>\n",
" <td>1384</td>\n",
" <td>11304</td>\n",
" <td>1741</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1742</th>\n",
" <td>1384</td>\n",
" <td>1540</td>\n",
" <td>1742</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1744</th>\n",
" <td>1384</td>\n",
" <td>10212</td>\n",
" <td>1744</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1745</th>\n",
" <td>1384</td>\n",
" <td>1536</td>\n",
" <td>1745</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1746</th>\n",
" <td>1384</td>\n",
" <td>7500</td>\n",
" <td>1746</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1756</th>\n",
" <td>1384</td>\n",
" <td>8228</td>\n",
" <td>1756</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1758</th>\n",
" <td>1380</td>\n",
" <td>11804</td>\n",
" <td>1758</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1759</th>\n",
" <td>1380</td>\n",
" <td>1536</td>\n",
" <td>1759</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1761</th>\n",
" <td>1380</td>\n",
" <td>10384</td>\n",
" <td>1761</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1762</th>\n",
" <td>1380</td>\n",
" <td>1540</td>\n",
" <td>1762</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1763</th>\n",
" <td>1380</td>\n",
" <td>6856</td>\n",
" <td>1763</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1772</th>\n",
" <td>1380</td>\n",
" <td>8400</td>\n",
" <td>1772</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1774</th>\n",
" <td>1384</td>\n",
" <td>11968</td>\n",
" <td>1774</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1775</th>\n",
" <td>1384</td>\n",
" <td>1540</td>\n",
" <td>1775</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1776</th>\n",
" <td>1384</td>\n",
" <td>10100</td>\n",
" <td>1776</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1786</th>\n",
" <td>1396</td>\n",
" <td>5228</td>\n",
" <td>1786</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1788</th>\n",
" <td>1384</td>\n",
" <td>9224</td>\n",
" <td>1788</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1789</th>\n",
" <td>1384</td>\n",
" <td>1540</td>\n",
" <td>1789</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1791</th>\n",
" <td>1380</td>\n",
" <td>10460</td>\n",
" <td>1791</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1792</th>\n",
" <td>1380</td>\n",
" <td>1536</td>\n",
" <td>1792</td>\n",
" </tr>\n",
" <tr>\n",
" <th>1793</th>\n",
" <td>1380</td>\n",
" <td>9340</td>\n",
" <td>1793</td>\n",
" </tr>\n",
" </tbody>\n",
"</table>\n",
"<p>480 rows × 3 columns</p>\n",
"</div>"
],
"text/plain": [
" steering throttle idx\n",
"157 1400 10164 157\n",
"159 1380 10024 159\n",
"160 1380 1540 160\n",
"162 1384 10416 162\n",
"163 1384 1540 163\n",
"164 1384 8572 164\n",
"173 1400 6884 173\n",
"175 1384 10252 175\n",
"176 1384 1540 176\n",
"178 1384 10176 178\n",
"179 1384 1536 179\n",
"180 1384 8212 180\n",
"192 1384 7392 192\n",
"194 1384 10796 194\n",
"195 1384 1536 195\n",
"197 1380 10348 197\n",
"198 1380 1540 198\n",
"199 1380 7740 199\n",
"208 1380 7800 208\n",
"210 1380 11184 210\n",
"211 1380 1540 211\n",
"213 1384 10312 213\n",
"214 1384 1540 214\n",
"215 1384 7372 215\n",
"224 1384 8188 224\n",
"226 1380 11564 226\n",
"227 1380 1540 227\n",
"229 1384 10320 229\n",
"230 1384 1536 230\n",
"231 1384 7008 231\n",
"... ... ... ...\n",
"1711 1380 1536 1711\n",
"1712 1380 7928 1712\n",
"1721 1404 7584 1721\n",
"1723 1380 10608 1723\n",
"1724 1380 1540 1724\n",
"1727 1384 10256 1727\n",
"1728 1384 1540 1728\n",
"1729 1384 7568 1729\n",
"1739 1384 8004 1739\n",
"1741 1384 11304 1741\n",
"1742 1384 1540 1742\n",
"1744 1384 10212 1744\n",
"1745 1384 1536 1745\n",
"1746 1384 7500 1746\n",
"1756 1384 8228 1756\n",
"1758 1380 11804 1758\n",
"1759 1380 1536 1759\n",
"1761 1380 10384 1761\n",
"1762 1380 1540 1762\n",
"1763 1380 6856 1763\n",
"1772 1380 8400 1772\n",
"1774 1384 11968 1774\n",
"1775 1384 1540 1775\n",
"1776 1384 10100 1776\n",
"1786 1396 5228 1786\n",
"1788 1384 9224 1788\n",
"1789 1384 1540 1789\n",
"1791 1380 10460 1791\n",
"1792 1380 1536 1792\n",
"1793 1380 9340 1793\n",
"\n",
"[480 rows x 3 columns]"
]
},
"execution_count": 86,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"df[abs(df.steering - 1380) < 40]"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.6.8"
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},
"nbformat": 4,
"nbformat_minor": 2
}
Raw
dump
connecting to port /dev/ttyUSB0
connecting to port /dev/ttyUSB1
connected
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b'info: starting input pwm monitoring...\r\n'
b'10000\r\n'
b'10000\r\n'
b'info: waiting for output pwm controller...\r\n'
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Raw
read_pwm_and_control4.ino
#include <PinChangeInterrupt.h>
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define MIN_PULSE_WIDTH 650
#define MAX_PULSE_WIDTH 2350
#define DEFAULT_PULSE_WIDTH 1500
#define FREQUENCY 50
/*
* info: starting input pwm monitoring...
info: waiting for output pwm controller...
info: initializing esc...
info: setup complete
in: 1380 1540
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in: 1384 -31996
in: -31924 -31924
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in: 8880 9148
in: -19792 -20248
in: -19944 -20248
in: 10112 -20248
in: 10112 10360
in: 8888 10360
in: 8888 9592
in: 8760 9592
in: 8760 9452
in: 1384 9452
in: 1384 1540
*/
const int pin_pwm_in_steering = 11;
const int pin_pwm_in_throttle = 10;
const int channel_pwm_out_steering = 1;
const int channel_pwm_out_throttle = 0;
int old_steering = -1;
int old_throttle = -1;
char buf[50] = "";
class PwmListener
{
volatile int pwm_value_;
volatile int prev_time_;
const int pin_;
public:
PwmListener(int pin, int default_value):
pin_(pin), pwm_value_(default_value), prev_time_(0)
{}
void process()
{
uint8_t trigger = getPinChangeInterruptTrigger(digitalPinToPCINT(pin_));
if(trigger == RISING)
prev_time_ = micros();
else if(trigger == FALLING)
pwm_value_ = micros() - prev_time_;
else {
// Wrong usage
}
}
// wrapper function is required as an argument
// because attachPinChangeInterrupt doesn't accept
// pointers to object's methods
void setup(void(*func)())
{
pinMode(pin_, INPUT);
attachPinChangeInterrupt(digitalPinToPCINT(pin_), func, CHANGE);
}
int value() const
{
return pwm_value_;
}
};
PwmListener pwm_listener1 (pin_pwm_in_steering, 10000);
void interrupt1()
{
pwm_listener1.process();
}
PwmListener pwm_listener2 (pin_pwm_in_throttle, 10000);
void interrupt2()
{
pwm_listener2.process();
}
void setup() {
Serial.begin(115200);
Serial.println("info: starting input pwm monitoring...");
pwm_listener1.setup(&interrupt1);
pwm_listener2.setup(&interrupt2);
Serial.println(pwm_listener1.value());
Serial.println(pwm_listener2.value());
Serial.println("info: waiting for output pwm controller...");
// pwm.begin();
// pwm.setPWMFreq(FREQUENCY);
//
// pwm.setPWM(channel_pwm_out_steering, 0, pulseWidth(8000));
// pwm.setPWM(channel_pwm_out_throttle, 0, pulseWidth(8000));
// delay(1000);
//
// Serial.println("info: initializing esc...");
// for (auto i = 8000; i >= 2000; i -= 1) {
// Serial.print("info: ");
// Serial.println(i);
// pwm.setPWM(channel_pwm_out_steering, 0, pulseWidth(i));
// pwm.setPWM(channel_pwm_out_throttle, 0, pulseWidth(i));
// delay(1);
// }
// delay(2000);
Serial.println("info: setup complete");
}
void loop() {
const int steering = pwm_listener1.value();
const int throttle = pwm_listener2.value();
if (
abs(steering - old_steering) > 10 ||
abs(throttle - old_throttle) > 10
)
{
sprintf(buf, "in: %d %d\n", steering, throttle);
Serial.print(buf);
// pwm.setPWM(channel_pwm_out_steering, 0, pulseWidth(steering));
// pwm.setPWM(channel_pwm_out_throttle, 0, pulseWidth(throttle));
old_steering = steering;
old_throttle = throttle;
}
}
int pulseWidth(int pulse_width)
{
return int(float(pulse_width) / 1000000 * FREQUENCY * 4096);
}
Raw
serial_monitor.py
import serial
ports = ['/dev/ttyUSB0', '/dev/ttyUSB1']
def main():
for port in ports:
print("connecting to port {}".format(port))
try:
with serial.Serial(port, 115200, timeout=0.01) as ser:
print('connected')
process(ser)
return
except serial.serialutil.SerialException as e:
if e.errno == 2:
continue
raise
raise FileNotFoundError("Unable to open ports {}".format(ports))
def process(ser):
while(True):
line = ser.readline() # read a '\n' terminated line
if line != b'':
print(line)
if __name__ == '__main__':
main()
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