diff options
| -rw-r--r-- | scripts/motan/analyzers.py | 61 |
1 files changed, 60 insertions, 1 deletions
diff --git a/scripts/motan/analyzers.py b/scripts/motan/analyzers.py index 4cafea76..bc2c17fa 100644 --- a/scripts/motan/analyzers.py +++ b/scripts/motan/analyzers.py @@ -3,7 +3,7 @@ # Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. -import collections +import math, collections import readlog @@ -46,6 +46,65 @@ class GenDerivative: return [deriv[0]] + deriv AHandlers["derivative"] = GenDerivative +# Calculate an integral (accel to velocity, or velocity to position) +class GenIntegral: + ParametersMin = 1 + ParametersMax = 3 + DataSets = [ + ('integral(<dataset>)', 'Integral of the given dataset'), + ('integral(<dataset1>,<dataset2>)', + 'Integral with dataset2 as reference'), + ('integral(<dataset1>,<dataset2>,<half_life>)', + 'Integral with weighted half-life time'), + ] + def __init__(self, amanager, name_parts): + self.amanager = amanager + self.source = name_parts[1] + amanager.setup_dataset(self.source) + self.ref = None + self.half_life = 0.015 + if len(name_parts) >= 3: + self.ref = name_parts[2] + amanager.setup_dataset(self.ref) + if len(name_parts) == 4: + self.half_life = float(name_parts[3]) + def get_label(self): + label = self.amanager.get_label(self.source) + lname = label['label'] + units = label['units'] + if '(mm/s)' in units: + rep = [('Velocity', 'Position'), ('(mm/s)', '(mm)')] + elif '(mm/s^2)' in units: + rep = [('Acceleration', 'Velocity'), ('(mm/s^2)', '(mm/s)')] + else: + return {'label': 'Integral', 'units': 'Unknown'} + for old, new in rep: + lname = lname.replace(old, new).replace(old.lower(), new.lower()) + units = units.replace(old, new).replace(old.lower(), new.lower()) + return {'label': lname, 'units': units} + def generate_data(self): + seg_time = self.amanager.get_segment_time() + src = self.amanager.get_datasets()[self.source] + offset = sum(src) / len(src) + total = 0. + ref = None + if self.ref is not None: + ref = self.amanager.get_datasets()[self.ref] + offset -= (ref[-1] - ref[0]) / (len(src) * seg_time) + total = ref[0] + src_weight = 1. + if self.half_life: + src_weight = math.exp(math.log(.5) * seg_time / self.half_life) + ref_weight = 1. - src_weight + data = [0.] * len(src) + for i, v in enumerate(src): + total += (v - offset) * seg_time + if ref is not None: + total = src_weight * total + ref_weight * ref[i] + data[i] = total + return data +AHandlers["integral"] = GenIntegral + # Calculate a kinematic stepper position from the toolhead requested position class GenKinematicPosition: ParametersMin = ParametersMax = 1 |