Branching from Cathaswatch project

https://git.nerdyssey.de/exodus/1NiM-WatingRoom-WatchController
2024-11-16 11:53:28 +01:00
parent 1a13428c9d
commit 8c49e2f11c
116 changed files with 14510 additions and 590 deletions
@@ -0,0 +1,54 @@
+import math
+import matplotlib.pyplot as plt
+
+from utils.defines import *
+from utils.generator import *
+from matplotlib.ticker import (MultipleLocator, AutoMinorLocator)
+
+def main():
+    st = Stepper(1.8, 32)
+    print(f"Step = {st.Step}; Steps = {st.Steps}")
+
+    wv = QuadWave(64)
+    # plt.plot(wv.Sine, label="sin")
+    # plt.plot(wv.Cosine, label="cos")
+    # plt.legend()
+    # plt.show()
+
+    gen = Generator(st, 0.001, 1, 1)
+
+    curves = []
+    curves.append(gen.createSmoothStep(math.pi)) # 180 deg 
+    curves.append(gen.createSmoothStep(math.pi*1/6)) # 60 deg 
+    curves.append(gen.createBuildUpStep(math.pi)) # 180 deg 
+    curves.append(gen.createRapidStartSwingInEnd(math.pi)) # 180 deg 
+    curves.append(gen.createJumpInTarget(math.pi)) # 180 deg 
+
+    fig, axes = plt.subplots(len(curves), 1, layout='constrained')
+
+    for (i,ax) in enumerate(axes):
+        crv = curves[i]
+        ax.plot(crv["p"], label="ϕ")
+        ax.plot(crv["w"], label="ω", linestyle="--")
+
+        dax = ax.twinx()  # instantiate a second Axes that shares the same x-axis
+        dax.step(range(len(crv["o"])), crv["o"], label="o", linewidth=.5)
+        print(f"EndPos = {crv["pE"]}; (Delta = {math.pi - crv["pE"]}) in {crv["T"] * 1000} steps")
+
+    tMax = max(map(lambda x : x["T"], curves))
+    tEnd = math.ceil(tMax)*1000
+
+    for ax in axes:
+        ax.yaxis.set_ticks([0, math.pi/3, math.pi*2/3, math.pi],["Picto0", "Picto1", "Picto2", "Picto3"])
+        ax.xaxis.set_ticks(range(0,tEnd+1000,1000), range(0,math.ceil(tMax)+1,1))
+        ax.xaxis.set_ticks(range(0,tEnd+1000,100), minor = True)
+        ax.yaxis.grid(linestyle='dotted')
+        ax.set_xlabel('time (s)')
+        ax. set_ylabel('angle')
+        # ax.legend()
+
+    plt.show()
+
+    
+if __name__ == '__main__':
+    main()