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-rw-r--r--digital/asserv/tools/step.py16
1 files changed, 7 insertions, 9 deletions
diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py
index 238ba5a0..addc1ddd 100644
--- a/digital/asserv/tools/step.py
+++ b/digital/asserv/tools/step.py
@@ -12,17 +12,15 @@ def step (name, kp, ki, kd, plots):
else:
io = serial.Serial (sys.argv[1])
a = Asserv (io, **{ name + 'kp': kp, name + 'ki': ki, name + 'kd': kd})
- a.stats ('PW')
+ a.stats (*plots)
a.consign (name, 0x200)
- a.wait (lambda: a.stats_count > 225 * 2)
- list = a.get_stats ()
- a.reset ()
- a.wait (lambda: True)
+ array = a.get_stats (225)
+ a.close ()
g = Gnuplot.Gnuplot (persist = True)
g ('set data style lines')
- g.plot (*[Gnuplot.Data (list, cols = i) for i in plots])
+ g.plot (*[array[:, i] for i in xrange (len (plots))])
-step ('t', 1, 0, 16, (0, 6, 7))
-#step ('a', 1, 0, 16, (2, 6, 7))
-#step ('a0', 1, 0, 16, (4, 8))
+step ('t', 1, 0, 16, ('te', 'lw', 'rw'))
+#step ('a', 1, 0, 16, ('ae', 'lw', 'rw'))
+#step ('a0', 1, 0, 16, ('a0e', 'a0w'))