117 lines
3.3 KiB
Python
117 lines
3.3 KiB
Python
import argparse
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import matplotlib.pyplot as plt
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from open_micro_stage_api import OpenMicroStageInterface
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plt.rcParams['figure.dpi'] = 200
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def plot_calibration_data(ax_encoder_counts, ax_field_angel, label, data):
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# Plot on the provided Axes object
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if ax_encoder_counts is not None:
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ax_encoder_counts.plot(data[0], data[2], label=label)
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ax_encoder_counts.set_xlabel('Motor Angle [rad]')
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ax_encoder_counts.set_ylabel('Encoder Counts Raw')
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ax_encoder_counts.set_title('Encoder Count Plot')
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ax_encoder_counts.legend()
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ax_encoder_counts.grid(True)
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# Plot on the provided Axes object
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if ax_field_angel is not None:
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ax_field_angel.plot(data[0], data[1], label=label)
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ax_field_angel.set_xlabel('Motor Angle [rad]')
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ax_field_angel.set_ylabel('Motor Field Angle [rad]')
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ax_field_angel.set_title('Field Angle Plot')
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ax_field_angel.legend()
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ax_field_angel.grid(True)
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def list_available_ports():
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devices = OpenMicroStageInterface.enumerate_devices()
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if not devices:
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print('No serial devices detected.')
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return devices
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print('Available serial devices:')
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for device in devices:
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print(f" {device['label']}")
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return devices
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def resolve_port(port):
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if port:
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return port
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devices = OpenMicroStageInterface.enumerate_devices()
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pico_devices = [device for device in devices if 'pico' in device['label'].lower()]
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if len(pico_devices) == 1:
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print(f"Using detected Pico serial device: {pico_devices[0]['label']}")
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return pico_devices[0]['port']
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if len(pico_devices) > 1:
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print('Multiple Pico serial devices detected. Pass --port to choose one:')
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for device in pico_devices:
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print(f" {device['label']}")
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raise SystemExit(1)
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if len(devices) == 1:
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print(f"Using detected serial device: {devices[0]['label']}")
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return devices[0]['port']
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if devices:
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print('Multiple serial devices detected. Pass --port to choose one:')
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for device in devices:
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print(f" {device['label']}")
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else:
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print('No serial devices detected.')
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raise SystemExit(1)
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def parse_args():
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parser = argparse.ArgumentParser(
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description='Run joint calibration and plot the measured data.',
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)
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parser.add_argument(
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'--port',
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help='Serial port to use (for example /dev/ttyACM0 or COM3).',
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)
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parser.add_argument(
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'--list-ports',
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action='store_true',
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help='List detected serial devices and exit.',
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)
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return parser.parse_args()
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def main():
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args = parse_args()
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if args.list_ports:
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list_available_ports()
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return
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port = resolve_port(args.port)
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oms = OpenMicroStageInterface(show_communication=True, show_log_messages=True)
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if not oms.connect(port):
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raise SystemExit(f'Could not connect to {port}.')
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try:
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# Create subplots
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fig, ax = plt.subplots(1, 1, figsize=(10, 7), sharex='all')
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for i in range(3):
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res, data = oms.calibrate_joint(i, save_result=False)
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plot_calibration_data(ax, None, f'Actuator {i}', data)
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# Adjust layout and show
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plt.tight_layout()
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plt.show()
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finally:
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oms.disconnect()
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if __name__ == '__main__':
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main()
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