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-rw-r--r--digital/asserv/tools/step.py22
1 files changed, 22 insertions, 0 deletions
diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py
new file mode 100644
index 00000000..498ce58f
--- /dev/null
+++ b/digital/asserv/tools/step.py
@@ -0,0 +1,22 @@
+import sys
+sys.path.append (sys.path[0] + '/../../../host/proto')
+
+from asserv import Asserv
+import popen_io
+import Gnuplot
+
+def step (name, kp, ki, kd, plots):
+ io = popen_io.PopenIO (sys.argv[1:])
+ a = Asserv (io, **{ name + 'kp': kp, name + 'ki': ki, name + 'kd': kd})
+ a.stats ('PW')
+ a.consign (name, 0x200)
+ a.wait (lambda: a.stats_count > 225 * 2)
+ list = a.get_stats ()
+
+ g = Gnuplot.Gnuplot (persist = True)
+ g ('set data style lines')
+ g.plot (*[Gnuplot.Data (list, cols = i) for i in plots])
+
+step ('t', 1, 0, 16, (0, 6, 7))
+#step ('a', 1, 0, 16, (2, 6, 7))
+#step ('a0', 1, 0, 16, (4, 8))