import sys sys.path.append (sys.path[0] + '/../../../host/proto') from asserv import Asserv import popen_io import serial import Gnuplot def step (name, kp, ki, kd, plots): if sys.argv[1] == '!': io = popen_io.PopenIO (sys.argv[2:]) else: io = serial.Serial (sys.argv[1]) a = Asserv (io, **{ name + 'kp': kp, name + 'ki': ki, name + 'kd': kd}) a.stats (*plots) a.consign (name, 0x200) array = a.get_stats (225) a.close () g = Gnuplot.Gnuplot (persist = True) g ('set data style lines') g.plot (*[array[:, i] for i in xrange (len (plots))]) step ('t', 1, 0, 16, ('te', 'lw', 'rw')) #step ('a', 1, 0, 16, ('ae', 'lw', 'rw')) #step ('a0', 1, 0, 16, ('a0e', 'a0w'))