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))