Code optimization and cleanup
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@ -21,7 +21,7 @@ kit.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
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# The servo angle in degrees. Must be in the range 0 to actuation_range.
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# Is None when servo is disabled.
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kit.servo[0].angle = 90
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kit.servo[0].angle = 88
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@ -1,45 +1,41 @@
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from adafruit_hcsr04 import HCSR04 as hcsr04 # Ultrasound sensor
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import board # General board pin mapper
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from adafruit_servokit import ServoKit # Servo libraries for PWM driver board
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import adafruit_pcf8591.pcf8591 as PCF # AD/DA converter board for potentiometer
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from adafruit_pcf8591.analog_in import AnalogIn # Analogue in pin library
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from adafruit_pcf8591.analog_out import AnalogOut # Analogue out pin library
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from adafruit_hcsr04 import HCSR04 as hcsr04 # Ultrasound sensor
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import board # General board pin mapper
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import statistics as st # Mean and median calculations
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import csv # CSV handling
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from time import sleep # Sleep/pause
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import pandas as pd
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from datetime import datetime
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import busio
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import adafruit_vl6180x
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import math
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# laser sensor controls.
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# i2c = busio.I2C(board.SCL, board.SDA)
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# laser = adafruit_vl6180x.VL6180X(i2c)
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import pandas as pd # Pandas for data manipulation
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from datetime import datetime # Datetime for timestamps
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import math # Math for particular calculations
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import matplotlib.pyplot as plt # Mathplotlib for graphs
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# Variables to control sensor
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TRIGGER_PIN = board.D4 # GPIO pin xx
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ECHO_PIN = board.D17 # GPIO pin xx
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PIN_TIMEOUT: float = 0.1 # Timeout for echo wait -- don't change
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RUN_TIMEOUT: float = 0.0 # Sleep time in function
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MIN_DISTANCE: int = 6 # Minimum sensor distance to be considered valid (1 on bar)
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MAX_DISTANCE: int = 40 # Maximum sensor distance to be considered valid (35 on bar)
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RUN_TIMEOUT: float = 0.0 # Sleep time in read_distance() function
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MIN_DISTANCE: int = 2 # Minimum sensor distance to be considered valid (1 on bar)
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MAX_DISTANCE: int = 36 # Maximum sensor distance to be considered valid (35 on bar)
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# Variables to control servo
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KIT = ServoKit(channels=16) # Define the type of board (8, 16)
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MIN_PULSE: int = 400 # Defines angle 80, for current PID setup
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MAX_PULSE: int = 2500 # Defines angle 100, for current PID setup
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OFFSET: int = -1
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OFFSET: int = -2 # Correction nominal angle versus physical angle of the arm
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KIT.servo[0].set_pulse_width_range(MIN_PULSE, MAX_PULSE)
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# Variables to control logging.
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LOG: bool = True # Log data to files
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LOG: bool = False # Log data to files
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LOG_GRAPH: bool = True # Log graph creation
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SCREEN: bool = True # Log data to screen
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DEBUG: bool = False # More data to display
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TWIN_MODE: bool = True # Run in live or twin mode
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# Control the number of samples for single distance measurement (average from burst)
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MAX_SAMPLES: int = 1
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# Control the number of samples for single distance measurement (average from sample burst)
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MAX_SAMPLES: int = 8
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# Control the potentiometer
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# Description:
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@ -64,48 +60,78 @@ pcf_out = AnalogOut(pcf, PCF.OUT)
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pcf_out.value = PCF_VAL
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# Variables to control PID values (PID formula tweaks)
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p_value: float = 0.5
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i_value: float = 0.01
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d_value: float = 0.0
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p_value: float = 1.0
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i_value: float = 0.0
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d_value: float = 0.1
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# Initial variables, used in pid_calculations()
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i_result: float = 0.0
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previous_time: float = 0.0
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previous_error: float = 0.0
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# Error sum array
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# Error sum array values
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error_sum_max: int = 10
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error_sum_array: list = [0] * error_sum_max
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error_sum_counter: int = 0
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# Digital twin
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# Digital twin parameters
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previous_speed: float = 0.0
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previous_position: float = 0.0
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previous_angle: int = 90
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# a: acceleration
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# g: gravity (9.81 m/s^2)
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# theta: angle of the inclined plane
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# u: coefficient of the friction between the cart and the inclined plane.
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acceleration: float = 0.0
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gravity: float = 9.81
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friction: float = 0.05
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delta_t: float = 0.2
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#maximum angle the servo can move away from steady position. With 10 the range is between 80 and 100, with steady at 90
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max_angle = 10
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# Maximum angle the servo can move away from steady position. With 10 the range is between 80 (-10) and 100 (+10),
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# with steady at 90 (0)
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max_angle: int = 5
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# servo slower
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# Servo slower
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current_angle: int = 90
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watch_variable: int = 0
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# Servo memory for boosting the cart if its stuck due to friction
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servo_memory_1: int = 0
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servo_memory_2: int = 0
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memory_max: int = 5
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# base time of the system
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# Current time of the system, used as base for file creation)
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base_time: float = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
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# Write base_time in file, to be used by other functions.
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with open("pid-balancer_" + "time_file.txt", "w") as time_file:
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time_file.write(datetime.strftime(datetime.now(), '%Y-%m-%d %H:%M:%S.%f')[:-3])
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# Write data to any of the logfiles
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def log_data(data_file: str, data_line: str, remark: str | None):
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log_stamp: str = datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3]
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log_stamp: str = datetime.strftime(datetime.now(), '%Y-%m-%d %H:%M:%S.%f')[:-3]
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with open("pid-balancer_" + "time_file.txt", "r") as time_file:
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file_stamp: str = time_file.readline()
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with open("pid-balancer_" + data_file + "_data_" + file_stamp + ".csv", "a") as data_file:
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data_writer = csv.writer(data_file)
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data_writer = csv.writer(data_file, delimiter=';', quoting=csv.QUOTE_MINIMAL)
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data_writer.writerow([log_stamp, data_line, remark])
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# Write data to any of the logfiles. This is specifically for one type of logfile that uses multiple data columns
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def log_data2(data_file: str, data_line: str, data_line2: str | None):
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log_stamp: str = datetime.strftime(datetime.now(), '%Y-%m-%d %H:%M:%S.%f')[:-3]
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with open("pid-balancer_" + "time_file.txt", "r") as time_file:
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file_stamp: str = time_file.readline()
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with open("pid-balancer_" + data_file + "_data_" + file_stamp + ".csv", "a") as data_file:
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data_writer = csv.writer(data_file, delimiter=';', quoting=csv.QUOTE_MINIMAL)
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data_writer.writerow([log_stamp, data_line, data_line2])
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# Function to read the SR05 ultrasound sensor data
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def read_distance_sensor():
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start_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
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@ -121,18 +147,20 @@ def read_distance_sensor():
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timestamp_first: float = 0.0
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while samples != max_samples:
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sleep(RUN_TIMEOUT)
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sleep(RUN_TIMEOUT) # Fixes some sensor driver crashes
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try:
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distance: float = sonar.distance # reading distance from the sonic sensor
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# distance: float = laser.range * 10 # reading distance from the laser sensor
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distance: float = sonar.distance # Reading distance from the sonic sensor
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if MIN_DISTANCE < distance < MAX_DISTANCE:
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if MIN_DISTANCE < distance < MAX_DISTANCE: # Only process distances within expected range.
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# This drops erroneous readings.
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log_data(data_file="sensor", data_line=str(distance), remark="") if LOG else None
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# print("Distance_in_range: ", distance) if SCREEN else None
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print("Distance_in_range: ", distance) if SCREEN else None # For testing
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if max_samples == 1:
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median_distance = distance
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median_distance: float = distance
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mean_timestamp = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f')[:-3])
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samples: int = samples + 1
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print("Distance_in_range_rounded: ", round(distance, 4)) if SCREEN else None # For testing
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else:
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sample_array.append(distance)
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if samples == 0: timestamp_first = float(datetime.strftime(datetime.now(),
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@ -145,39 +173,46 @@ def read_distance_sensor():
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timestamp_last_float: float = float(timestamp_last)
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median_distance: float = st.median(sample_array)
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mean_timestamp: float = st.mean([timestamp_first_float, timestamp_last_float])
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print("Distance_median: ", median_distance) if SCREEN else None
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print("Timestamp_mean: ", mean_timestamp) if DEBUG else None
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print("Distance_in_range: ", distance) if SCREEN else None
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if DEBUG:
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print("Distance_median: ", median_distance)
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print("Timestamp_mean: ", mean_timestamp)
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print("Distance_in_range: ", distance)
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data_line = str(sample_array) + ',' + str(median_distance)
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log_data(data_file="sensor_array", data_line= data_line,
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remark="") if LOG else None
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log_data(data_file="sensor_array", data_line=data_line, remark="")
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print("Distance_in_range_rounded: ", round(distance, 4)) if SCREEN else None
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samples: int = samples + 1
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else:
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log_data(data_file="sensor", data_line=str(distance), remark="Distance_out_of_range") if LOG else None
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log_data(data_file="sensor", data_line=str(distance),
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remark="Distance_out_of_range") if LOG else None
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print("Distance_out_of_range: ", round(distance, 4)) if SCREEN else None
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except RuntimeError:
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log_data(data_file="sensor", data_line="999.999", remark="Timeout") if LOG and DEBUG else None
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print("Distance_timed_out") if SCREEN else None
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# Function process time recorder
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end_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
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data_line = str(start_time - end_time)
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log_data(data_file="function", data_line=data_line, remark="read_distance_sensor") if LOG else None
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# Median distance and Mean time to log writer
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data_line = str(median_distance)
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data_line2 = str(mean_timestamp)
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log_data2(data_file="median_sensor", data_line=data_line, data_line2=data_line2) if LOG_GRAPH else None
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return median_distance, mean_timestamp
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def read_setpoint():
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start_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
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def read_setpoint():
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# Read the resistance of the potentiometer and convert to centimeters for use with setpoint distance
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start_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
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while True:
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raw_value: int = pcf_in_0.value
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scaled_value: float = (raw_value / PCF_VAL) * pcf_in_0.reference_voltage
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log_line = str(scaled_value) + "," + str(raw_value) + "," + str("angle")
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log_line = str(scaled_value) + ";" + str(raw_value) + ";" + str("angle")
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log_data(data_file="potmeter", data_line=log_line, remark="") if LOG else None
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cm_rounded: int = int(round(scaled_value * POT_PCM, 0))
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@ -186,9 +221,9 @@ def read_setpoint():
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print('Scaled_rounded = ', round(scaled_value, 4), ' CM_rounded= ', cm_rounded)
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print('Scaled_raw= ', scaled_value, ' CM_raw= ', int(scaled_value * POT_PCM))
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print('setpoing in cm: ', cm_rounded) if SCREEN else None
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print('Setpoint in cm: ', cm_rounded) if SCREEN else None
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sleep(POT_INT)
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sleep(POT_INT) # Fix for driver crashes
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end_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
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data_line = str(start_time - end_time)
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@ -196,31 +231,20 @@ def read_setpoint():
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return cm_rounded
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def digital_twin():
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# a: acceleration
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# g: gravity (9.81 m/s^2)
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# theta: angle of the inclined plane
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# u: coefficient of the friction between the cart and the inclined plane.
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acceleration: float = 0.0
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global previous_position, previous_speed, base_time, watch_variable
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gravity: float = 9.81
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friction: float = 0.1
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delta_t: float = 0.1
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# Digital model of the physical model.
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global previous_position, previous_speed, base_time
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angle = (previous_angle - 90)
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acceleration = gravity * math.sin(math.radians(angle))
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friction_force = friction * gravity * math.cos(math.radians(angle)) * delta_t
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friction_force = abs(friction_force)
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friction_force = abs(friction * gravity * math.cos(math.radians(angle)) * delta_t)
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work_speed = previous_speed + acceleration * delta_t
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watch_variable = watch_variable + 1
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if watch_variable >= 150:
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print("breakpoint")
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print("watch_variable", watch_variable)
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if friction_force < work_speed:
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# To avoid the friction setting the work_speed to a negative value, forced the friction to be lower than the speed.
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if friction_force < work_speed * 0.8:
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if work_speed > 0:
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work_speed = work_speed - friction_force
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elif work_speed < 0:
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@ -228,35 +252,48 @@ def digital_twin():
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else:
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work_speed = work_speed
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current_speed = work_speed
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current_position = previous_position + (current_speed * delta_t)
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print("angle", angle)
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print("friction", friction)
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print("acceleration", acceleration)
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print("current speed", current_speed)
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print("current position", current_position)
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current_speed: float = work_speed
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current_position: float = previous_position + (current_speed * delta_t)
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if SCREEN:
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print("Angle", angle)
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print("Friction", friction)
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print("Acceleration", acceleration)
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print("Current speed", current_speed)
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print("Current position", current_position)
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print("")
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print("----------------")
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print("----------------------------------------------")
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print("")
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base_time = base_time + delta_t
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previous_speed = current_speed
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previous_position = current_position
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if LOG_GRAPH:
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# PID position logging
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data_line = str(current_position)
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log_data(data_file="twin_current_position", data_line=data_line, remark="")
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# PID acceleration logging
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data_line = str(acceleration)
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log_data(data_file="twin_acceleration", data_line=data_line, remark="")
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# PID speed logging
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data_line = str(current_speed)
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log_data(data_file="twin_current_speed", data_line=data_line, remark="")
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return current_position, base_time
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def pid_calculations():
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# Do all the PID calculations and return the new angle for the servo
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start_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
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global i_result, previous_time, previous_error # Can not be annotated with :float, because variables are global.
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global error_sum_counter, error_sum_array # counter for error_sum_array and error_sum_array itself
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global previous_angle
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offset_value: int = 0
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if TWIN_MODE:
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measurement, measurement_time = digital_twin()
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else:
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@ -278,18 +315,17 @@ def pid_calculations():
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previous_error = error
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previous_time = measurement_time
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#function to set the 2 max angles. Or set the angle to a specific number = pid_result * max movement + correction
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if pid_result >= max_angle: # if PID result is greater than 1, set to 1. 1 = max upward angle
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# Code to set the max angles. Or set the angle to a specific number = pid_result * max movement + correction
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if pid_result >= max_angle:
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output_angle = (90 + max_angle)
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elif pid_result <= -max_angle: # if PID result is greater than 1, set to 1. 1 = max downward angle
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elif pid_result <= -max_angle:
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output_angle = (90 - max_angle)
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elif -max_angle < pid_result < max_angle:
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output_angle = pid_result + 90
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else:
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output_angle = 90
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log_line = str(p_result) + "," + str(i_result) + "," + str(d_result) + "," + str(pid_result)
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log_line = str(p_result) + ";" + str(i_result) + ";" + str(d_result) + ";" + str(pid_result)
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log_data(data_file="pid", data_line=log_line, remark="") if LOG else None
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if DEBUG:
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@ -298,7 +334,7 @@ def pid_calculations():
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print("I_result: ", i_result)
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print("PID_result: ", pid_result)
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if error_sum_counter <= error_sum_max-2:
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if error_sum_counter <= error_sum_max - 2: # Correction tweak for error sum
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error_sum_counter = error_sum_counter + 1
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else:
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error_sum_counter = 0
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@ -312,23 +348,37 @@ def pid_calculations():
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output_angle = round(output_angle)
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previous_angle = output_angle
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# PID angle logging
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data_line = str(output_angle)
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log_data(data_file="pid_output_angle", data_line=data_line, remark="") if LOG_GRAPH and TWIN_MODE == False else None
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log_data(data_file="pid_output_angle_twin", data_line=data_line,
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remark="") if LOG_GRAPH and TWIN_MODE == True else None
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return output_angle
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def control_server_angle(angle):
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# Tell the servo to set its position
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start_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
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print("Current angle: ", angle) if SCREEN else None
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servo_angle = angle + OFFSET
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KIT.servo[0].angle = servo_angle # Set angle
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print("Offset angle: ", servo_angle) if SCREEN else None
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KIT.servo[0].angle = servo_angle # Send angle instruction to the servo
|
||||
|
||||
log_line = str(angle)
|
||||
log_data(data_file="servo", data_line=log_line, remark="") if LOG else None
|
||||
print("angle: ", servo_angle) if SCREEN else None
|
||||
|
||||
end_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
|
||||
data_line = str(start_time - end_time)
|
||||
log_data(data_file="function", data_line=data_line, remark="control_server_angle") if LOG else None
|
||||
|
||||
|
||||
def servo_slower():
|
||||
# This function restricts the servo to +/- 5 degrees in order to prevent launching the cart
|
||||
start_time = float(datetime.strftime(datetime.now(), '%Y%m%d%H%M%S.%f'))
|
||||
|
||||
global current_angle
|
||||
@ -348,10 +398,39 @@ def servo_slower():
|
||||
|
||||
return servo_angle
|
||||
|
||||
|
||||
def graph_plotter(file_name):
|
||||
# Creates the graphs with Pandas and Mathplotlib using the logiles as input. It must be run manually.
|
||||
|
||||
plt.rcParams['figure.figsize'] = [12, 8] # Set the size of the plot canvas
|
||||
picture_name = file_name + '.png' # User the name of the logfile as input for the graphical image
|
||||
file_name_plotter = file_name + ".csv" # Use the logfile as input
|
||||
|
||||
# Run one set of the graph code.
|
||||
|
||||
# df = pd.read_csv(file_name_plotter,delimiter=';', header=None, skiprows=0, decimal=".", names=['Timestamp', 'Distance', 'Timestamp2','Remarks'])
|
||||
# df = df.drop(columns = ['Timestamp2'])
|
||||
|
||||
df = pd.read_csv(file_name_plotter, delimiter=';', header=None, skiprows=0, decimal=".",
|
||||
names=['Timestamp', 'Distance', 'Remarks'])
|
||||
|
||||
df = df.drop(columns=['Remarks'])
|
||||
|
||||
plt.figure(figsize=(30, 60))
|
||||
df.plot(x='Timestamp', y='Distance')
|
||||
plt.savefig(picture_name)
|
||||
plt.show()
|
||||
|
||||
|
||||
# -------------------- Main ----------------------------------
|
||||
try:
|
||||
KIT.servo[0].angle = 90
|
||||
# graph_plotter("pid-balancer_pid_output_angle_twin_data_2025-01-17 14:29:29.624")
|
||||
# graph_plotter("pid-balancer_twin_acceleration_data_2025-01-17 14:29:29.624")
|
||||
# graph_plotter("pid-balancer_twin_current_position_data_2025-01-17 14:29:29.624")
|
||||
# graph_plotter("pid-balancer_twin_current_speed_data_2025-01-17 14:29:29.624")
|
||||
while True:
|
||||
# digital_twin()
|
||||
control_server_angle(pid_calculations())
|
||||
print("------------------------------------------\n")
|
||||
except RuntimeError:
|
||||
print("bbbb")
|
||||
print("What's up?!")
|
||||
|
||||
@ -1,22 +1,3 @@
|
||||
import pandas as pd
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
plt.rcParams['figure.figsize'] = [12, 8]
|
||||
|
||||
data_file = 'files_for_graph/digital_twin_measurments/pid-balancer_pid_data.csv'
|
||||
|
||||
#df = pd.read_csv(data_file,delimiter=';', header=None, skiprows=0, decimal=".", names=['Timestamp', 'Distance', 'Timestamp2','Remarks'])
|
||||
|
||||
df = pd.read_csv(data_file,delimiter=';', header=None, skiprows=0, decimal=".", names=['Timestamp', 'Distance','Remarks'])
|
||||
|
||||
# df = df.loc(['Remarks'] == "")
|
||||
df = df.drop(columns = ['Remarks'])
|
||||
#df = df.drop(columns = ['Timestamp2'])
|
||||
|
||||
# df.drop(df.columns[[2]], axis=1, inplace=True)
|
||||
pd.set_option('display.max_rows', 100)
|
||||
|
||||
plt.figure(figsize=(30,60))
|
||||
df.plot(x='Timestamp', y='Distance')
|
||||
plt.savefig('files_for_graph/digital_twin_measurments/pid-balancer_pid_data.png')
|
||||
plt.show()
|
||||
Loading…
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Reference in New Issue
Block a user