- added raw logging

- better calibration output
- added calibration plotter

firmware/MotionControllerRP/platformio.ini

@@ -23,8 +23,8 @@
 
 [env:pico]
 platform = https://github.com/maxgerhardt/platform-raspberrypi.git
-board = rpipico2 # RP2530
-# board = rpipico # RP2040
+board = rpipico2   # use this for RP2530
+# board = rpipico  # use this for RP2040
 board_build.filesystem_size = 0.5m
 
 framework = arduino

firmware/MotionControllerRP/src/servo_control/actuator_calibration.cpp

@@ -49,7 +49,7 @@ bool measure_calibration_data(
       // TODO: read motor_pos from precise reference encoder
 
       if(print_measurements)
-        LOG_INFO("%f, %15.10f, %15.10f", encoder_angle_raw, field_angle, motor_pos);
+        LOG_RAW("%15.10f, %15.10f, %f", motor_pos, field_angle, encoder_angle_raw);
 
       encoder_angle_and_motor_pos.push_back({encoder_angle_raw, motor_pos});
       motor_pos_and_field_angle.push_back({motor_pos, field_angle});

firmware/MotionControllerRP/src/utilities/logging.cpp

@@ -60,6 +60,13 @@ void Logger::error(const char* fmt, ...) {
   }
 }
 
+void Logger::raw(const char* fmt, ...) {
+  va_list args;
+  va_start(args, fmt);
+  log(ELogLevel::NONE, fmt, args);
+  va_end(args);
+}
+
 void Logger::log(ELogLevel level, const char* fmt, va_list args) {
   char buf[128];  // Adjust size as needed
   vsnprintf(buf, sizeof(buf), fmt, args);

firmware/MotionControllerRP/src/utilities/logging.h

@@ -15,6 +15,7 @@
 #define LOG_INFO(...) Logger::instance().info(__VA_ARGS__)
 #define LOG_WARNING(...) Logger::instance().warn(__VA_ARGS__)
 #define LOG_ERROR(...) Logger::instance().error(__VA_ARGS__)
+#define LOG_RAW(...) Logger::instance().raw(__VA_ARGS__)
 
 //*** ENUM ******************************************************************************
 
@@ -39,6 +40,7 @@ class Logger {
     void info(const char* fmt, ...);
     void warn(const char* fmt, ...);
     void error(const char* fmt, ...);
+    void raw(const char* fmt, ...);
 
   private:
     Logger() = default;

firmware/MotionControllerRP/src/version.h

@@ -1 +1 @@
-static const char* FIRMWARE_VERSION = "v1.0.1";
+static const char* FIRMWARE_VERSION = "v1.0.2";

software/PythonAPI/calibration_plotter.py

@@ -0,0 +1,40 @@
+from open_micro_stage_api import OpenMicroStageInterface
+import matplotlib.pyplot as plt
+plt.rcParams['figure.dpi'] = 200
+
+def plot_calibration_data(ax_encoder_counts, ax_field_angel, label, data):
+    # Plot on the provided Axes object
+    if ax_encoder_counts is not None:
+        ax_encoder_counts.plot(data[0], data[2], label=label)
+        ax_encoder_counts.set_xlabel('Motor Angle [rad]')
+        ax_encoder_counts.set_ylabel('Encoder Counts Raw')
+        ax_encoder_counts.set_title('Encoder Count Plot')
+        ax_encoder_counts.legend()
+        ax_encoder_counts.grid(True)
+
+    # Plot on the provided Axes object
+    if ax_field_angel is not None:
+        ax_field_angel.plot(data[0], data[1], label=label)
+        ax_field_angel.set_xlabel('Motor Angle [rad]')
+        ax_field_angel.set_ylabel('Motor Field Angle [rad]')
+        ax_field_angel.set_title('Field Angle Plot')
+        ax_field_angel.legend()
+        ax_field_angel.grid(True)
+
+def main():
+    # create interface and connect
+    oms = OpenMicroStageInterface(show_communication=True, show_log_messages=True)
+    oms.connect('/dev/ttyACM0')
+
+    # Create subplots
+    fig, ax = plt.subplots(1, 1, figsize=(10, 7), sharex='all')
+
+    for i in range(3):
+        res, data = oms.calibrate_joint(i, save_result=False)
+        plot_calibration_data(ax, None, f'Actuator {i}', data)
+
+    # Adjust layout and show
+    plt.tight_layout()
+    plt.show()
+
+main()