- added raw logging

- better calibration output
- added calibration plotter

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()