diff options
Diffstat (limited to 'scripts')
| -rwxr-xr-x | scripts/calibrate_shaper.py | 93 |
1 files changed, 85 insertions, 8 deletions
diff --git a/scripts/calibrate_shaper.py b/scripts/calibrate_shaper.py index 8a0fcdf0..b56ce5da 100755 --- a/scripts/calibrate_shaper.py +++ b/scripts/calibrate_shaper.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 # Shaper auto-calibration script # -# Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com> +# Copyright (C) 2020-2024 Dmitry Butyugin <dmbutyugin@google.com> # Copyright (C) 2020 Kevin O'Connor <kevin@koconnor.net> # # This file may be distributed under the terms of the GNU GPLv3 license. @@ -40,7 +40,9 @@ def parse_log(logname): ###################################################################### # Find the best shaper parameters -def calibrate_shaper(datas, csv_output, max_smoothing): +def calibrate_shaper(datas, csv_output, *, shapers, damping_ratio, scv, + shaper_freqs, max_smoothing, test_damping_ratios, + max_freq): helper = shaper_calibrate.ShaperCalibrate(printer=None) if isinstance(datas[0], shaper_calibrate.CalibrationData): calibration_data = datas[0] @@ -52,8 +54,17 @@ def calibrate_shaper(datas, csv_output, max_smoothing): for data in datas[1:]: calibration_data.add_data(helper.process_accelerometer_data(data)) calibration_data.normalize_to_frequencies() + + shaper, all_shapers = helper.find_best_shaper( - calibration_data, max_smoothing, print) + calibration_data, shapers=shapers, damping_ratio=damping_ratio, + scv=scv, shaper_freqs=shaper_freqs, max_smoothing=max_smoothing, + test_damping_ratios=test_damping_ratios, max_freq=max_freq, + logger=print) + if not shaper: + print("No recommended shaper, possibly invalid value for --shapers=%s" % + (','.join(shapers))) + return None, None, None print("Recommended shaper is %s @ %.1f Hz" % (shaper.name, shaper.freq)) if csv_output is not None: helper.save_calibration_data( @@ -140,28 +151,94 @@ def main(): opts.add_option("-c", "--csv", type="string", dest="csv", default=None, help="filename of output csv file") opts.add_option("-f", "--max_freq", type="float", default=200., - help="maximum frequency to graph") - opts.add_option("-s", "--max_smoothing", type="float", default=None, - help="maximum shaper smoothing to allow") + help="maximum frequency to plot") + opts.add_option("-s", "--max_smoothing", type="float", dest="max_smoothing", + default=None, help="maximum shaper smoothing to allow") + opts.add_option("--scv", "--square_corner_velocity", type="float", + dest="scv", default=5., help="square corner velocity") + opts.add_option("--shaper_freq", type="string", dest="shaper_freq", + default=None, help="shaper frequency(-ies) to test, " + + "either a comma-separated list of floats, or a range in " + + "the format [start]:end[:step]") + opts.add_option("--shapers", type="string", dest="shapers", default=None, + help="a comma-separated list of shapers to test") + opts.add_option("--damping_ratio", type="float", dest="damping_ratio", + default=None, help="shaper damping_ratio parameter") + opts.add_option("--test_damping_ratios", type="string", + dest="test_damping_ratios", default=None, + help="a comma-separated liat of damping ratios to test " + + "input shaper for") options, args = opts.parse_args() if len(args) < 1: opts.error("Incorrect number of arguments") if options.max_smoothing is not None and options.max_smoothing < 0.05: opts.error("Too small max_smoothing specified (must be at least 0.05)") + max_freq = options.max_freq + if options.shaper_freq is None: + shaper_freqs = [] + elif options.shaper_freq.find(':') >= 0: + freq_start = None + freq_end = None + freq_step = None + try: + freqs_parsed = options.shaper_freq.partition(':') + if freqs_parsed[0]: + freq_start = float(freqs_parsed[0]) + freqs_parsed = freqs_parsed[-1].partition(':') + freq_end = float(freqs_parsed[0]) + if freq_start and freq_start > freq_end: + opts.error("Invalid --shaper_freq param: start range larger " + + "than its end") + if freqs_parsed[-1].find(':') >= 0: + opts.error("Invalid --shaper_freq param format") + if freqs_parsed[-1]: + freq_step = float(freqs_parsed[-1]) + except ValueError: + opts.error("--shaper_freq param does not specify correct range " + + "in the format [start]:end[:step]") + shaper_freqs = (freq_start, freq_end, freq_step) + max_freq = max(max_freq, freq_end * 4./3.) + else: + try: + shaper_freqs = [float(s) for s in options.shaper_freq.split(',')] + except ValueError: + opts.error("invalid floating point value in --shaper_freq param") + max_freq = max(max_freq, max(shaper_freqs) * 4./3.) + if options.test_damping_ratios: + try: + test_damping_ratios = [float(s) for s in + options.test_damping_ratios.split(',')] + except ValueError: + opts.error("invalid floating point value in " + + "--test_damping_ratios param") + else: + test_damping_ratios = None + if options.shapers is None: + shapers = None + else: + shapers = options.shapers.lower().split(',') + # Parse data datas = [parse_log(fn) for fn in args] # Calibrate shaper and generate outputs selected_shaper, shapers, calibration_data = calibrate_shaper( - datas, options.csv, options.max_smoothing) + datas, options.csv, shapers=shapers, + damping_ratio=options.damping_ratio, + scv=options.scv, shaper_freqs=shaper_freqs, + max_smoothing=options.max_smoothing, + test_damping_ratios=test_damping_ratios, + max_freq=max_freq) + if selected_shaper is None: + return if not options.csv or options.output: # Draw graph setup_matplotlib(options.output is not None) fig = plot_freq_response(args, calibration_data, shapers, - selected_shaper, options.max_freq) + selected_shaper, max_freq) # Show graph if options.output is None: |