Skip to content

Commit

Permalink
Merge pull request #5 from sugikazu75/PR/add_py_script_2_analyze_moto…
Browse files Browse the repository at this point in the history 
…r_test_data

[Motor Test] add new plot PWM_ratio_% vs fz and python2 compatibility
  • Loading branch information
@Li-Jinjie
Li-Jinjie authored Sep 15, 2024
2 parents 3a042c3 + 122aee5 commit 352c997
Showing 1 changed file with 49 additions and 23 deletions.
72 changes: 49 additions & 23 deletions aerial_robot_nerve/motor_test/scripts/analyze_data.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
import matplotlib.pyplot as plt


def analyze_data(folder_path, file_name, has_telemetry, set_voltage):
def analyze_data(folder_path, file_name, has_telemetry, set_voltage, order):
file_path = folder_path + file_name
column_names = []
if not has_telemetry:
Expand Down Expand Up @@ -37,7 +37,7 @@ def analyze_data(folder_path, file_name, has_telemetry, set_voltage):
# Add a column for power
if has_telemetry:
average_values['Power'] = average_values['voltage'] * average_values['currency']
print(f"Average voltage: {average_values['voltage'].mean()}")
print("Average voltage: {}".format(average_values['voltage'].mean()))
else:
average_values['Power'] = set_voltage * average_values['currency']

Expand Down Expand Up @@ -67,35 +67,49 @@ def analyze_data(folder_path, file_name, has_telemetry, set_voltage):
if has_telemetry:
# Linear fit for x:kRPM^2 y:fz
slope_kRPM2, intercept_kRPM2 = np.polyfit(kRPM2, fz, 1)
fit_eq_kRPM2 = f"fz = {slope_kRPM2:.4f} * kRPM^2 + {intercept_kRPM2:.4f}"
print(f"Fitting Equation (x:kRPM^2 y:fz): {fit_eq_kRPM2}")
fit_eq_kRPM2 = "fz = {:.4f} * kRPM^2 + {:.4f}".format(slope_kRPM2, intercept_kRPM2)
print("Fitting Equation (x:kRPM^2 y:fz): {}".format(fit_eq_kRPM2))

# Linear fit for x: pwm_ratio y: kRPM
slope_kRPM_PWM_ratio, intercept_kRPM_PWM_ratio = np.polyfit(PWM_ratio, kRPM, 1)
fit_eq_kRPM_PWM_ratio = f"kRPM = {slope_kRPM_PWM_ratio:.4f} * PWM_Ratio_% + {intercept_kRPM_PWM_ratio:.4f}"
print(f"Fitting Equation (x:PWM_Ratio_% y:kRPM): {fit_eq_kRPM_PWM_ratio}")
fit_eq_kRPM_PWM_ratio = "kRPM = {:.4f} * PWM_Ratio_% + {:.4f}".format(slope_kRPM_PWM_ratio, intercept_kRPM_PWM_ratio)
print("Fitting Equation (x:PWM_Ratio_% y:kRPM): {}".format(fit_eq_kRPM_PWM_ratio))

# Linear fit for x:fz y:mz, note that the intercept must be 0. Only y=kx form.
slope_mz_fz, intercept_mz_fz = np.polyfit(fz, mz, 1)
fit_eq_mz_fz = f"mz = {slope_mz_fz:.4f} * fz"
print(f"Fitting Equation (x:fz y:mz): {fit_eq_mz_fz}")
fit_eq_mz_fz = "mz = {:.4f} * fz".format(slope_mz_fz)
print("Fitting Equation (x:fz y:mz): {}".format(fit_eq_mz_fz))

# 2nd-order polynomial fit for x:fz y:currency
coeffs_currency_fz = np.polyfit(fz, currency, 2)
fit_eq_currency_fz = f"currency = {coeffs_currency_fz[0]:.4e} * fz^2 + {coeffs_currency_fz[1]:.4e} * fz + {coeffs_currency_fz[2]:.4f}"
print(f"Fitting Equation (x:fz y:currency): {fit_eq_currency_fz}")

# 2nd-order polynomial fit for x:PWM_ratio y:fz
coeffs_PWM_ratio_fz = np.polyfit(PWM_ratio, fz, 2)
fit_eq_PWM_ratio_fz = f"fz = {coeffs_PWM_ratio_fz[0]:.4e} * PWM_Ratio_%^2 + {coeffs_PWM_ratio_fz[1]:.4e} * PWM_Ratio_% + {coeffs_PWM_ratio_fz[2]:.4f}"
print(f"Fitting Equation (x:PWM_Ratio_% y:fz): {fit_eq_PWM_ratio_fz}")
print(f"max fz: {np.max(fz):.4f} N")
print(f"polynominal2(10x): {10 * coeffs_PWM_ratio_fz[0]:.5f}")
print(f"polynominal1(10x): {10 * coeffs_PWM_ratio_fz[1]:.5f}")
print(f"polynominal0: {coeffs_PWM_ratio_fz[2]:.5f}")

# Create 3x2 subplots
fig, axs = plt.subplots(3, 2, figsize=(12, 18))
fit_eq_currency_fz = "currency = {:.4f} * fz^2 + {:.4f} * fz + {:.4f}".format(coeffs_currency_fz[0], coeffs_currency_fz[1], coeffs_currency_fz[2])
print("Fitting Equation (x:fz y:currency): {}".format(fit_eq_currency_fz))

# n-th order polynomial fit for x:PWM_ratio y:fz
coeffs_PWM_ratio_fz = np.polyfit(PWM_ratio, fz, order)
fit_eq_PWM_ratio_fz = "fz = "
for i in range(order + 1):
fit_eq_PWM_ratio_fz += "\n{:.4e} * PWM_Ratio_%^{} +".format(coeffs_PWM_ratio_fz[i], order - i)
print()
print("Fitting Equation (x:PWM_Ratio_% y:fz): {}".format(fit_eq_PWM_ratio_fz))
for i in range(order + 1):
print("polynomial{}: {:.8f} # x10^{}".format(order - i, pow(10, order - i) * coeffs_PWM_ratio_fz[i], order -i))
print()

# n-th order polynomial fit for x:fz y:PWM_ratio
coeffs_fz_PWM_ratio = np.polyfit(fz, PWM_ratio, order)
fit_eq_fz_PWM_ratio = "PWM_ratio_% = "
for i in range(order + 1):
fit_eq_fz_PWM_ratio += "\n{:.4e} * fz^{} + ".format(coeffs_fz_PWM_ratio[i], order - i)
print("Fitting Equation (x:fz y:PWM_Ratio_%): {}".format(fit_eq_fz_PWM_ratio))
print("voltage: {}".format(set_voltage))
print("max_thrust: {:.4f} # N".format(np.max(fz)))
for i in range(order + 1):
print("polynomial{}: {:.8f} # x10^{}".format(order - i, pow(10, order - i) * coeffs_fz_PWM_ratio[i], order - i))
print()

# Create 3x3 subplots
fig, axs = plt.subplots(3, 3, figsize=(12, 18))

# Plot 1: x:kRPM^2 y:fz
if has_telemetry:
Expand Down Expand Up @@ -159,6 +173,17 @@ def analyze_data(folder_path, file_name, has_telemetry, set_voltage):
axs[2, 1].text(0.95, 0.05, fit_eq_kRPM_PWM_ratio, horizontalalignment='right', verticalalignment='bottom',
transform=axs[2, 1].transAxes, fontsize=10, color='green')

# Plot 7: PWM_ratio vs fz
axs[0, 2].scatter(fz, PWM_ratio, color='blue', alpha=0.5, label='Data points')
axs[0, 2].plot(np.sort(fz), np.polyval(coeffs_fz_PWM_ratio, np.sort(fz)), color='red',
label='Fitted polynomial')
axs[0, 2].set_title('PWM_Ratio_% vs fz')
axs[0, 2].set_xlabel('fz (N)')
axs[0, 2].set_ylabel('PWM_Ratio_%')
axs[0, 2].grid()
axs[0, 2].text(0.95, 0.05, fit_eq_fz_PWM_ratio, horizontalalignment='right', verticalalignment='bottom',
transform=axs[0, 2].transAxes, fontsize=10, color='green')

# title with the file name
fig.suptitle(file_name)

Expand All @@ -173,7 +198,8 @@ def analyze_data(folder_path, file_name, has_telemetry, set_voltage):
parser.add_argument('file_name', help='file name')
parser.add_argument('has_telemetry', help='has telemetry, 0 or 1')
parser.add_argument("--set_voltage", help="the voltage set in the test, float", default=0.0)
parser.add_argument("--order", help="fitting order of fz vs PWM_ratio", default=2)
parser.add_argument('--folder_path', help='path to folder', default='~/.ros/')
args = parser.parse_args()

analyze_data(args.folder_path, args.file_name, int(args.has_telemetry), float(args.set_voltage))
analyze_data(args.folder_path, args.file_name, int(args.has_telemetry), float(args.set_voltage), int(args.order))

0 comments on commit 352c997

Please sign in to comment.