From 5353418ccb5ba3ea7ff1f542d06116954a1456a7 Mon Sep 17 00:00:00 2001 From: Franchioping Date: Mon, 15 Dec 2025 15:04:49 +0000 Subject: [PATCH] addded configs, input recording next --- analyze.py | 24 +++++++++---------- configurations/PID_med+.toml | 13 ++++++++++ configurations/PI_med+.toml | 13 ++++++++++ configurations/proportional_high.toml | 13 ++++++++++ ...onservative.toml => proportional_low.toml} | 0 configurations/proportional_med+++.toml | 13 ++++++++++ configurations/proportional_med++.toml | 13 ++++++++++ configurations/proportional_med+.toml | 13 ++++++++++ configurations/proportional_med.toml | 13 ++++++++++ 9 files changed, 103 insertions(+), 12 deletions(-) create mode 100644 configurations/PID_med+.toml create mode 100644 configurations/PI_med+.toml create mode 100644 configurations/proportional_high.toml rename configurations/{proportional_conservative.toml => proportional_low.toml} (100%) create mode 100644 configurations/proportional_med+++.toml create mode 100644 configurations/proportional_med++.toml create mode 100644 configurations/proportional_med+.toml create mode 100644 configurations/proportional_med.toml diff --git a/analyze.py b/analyze.py index 6124dd9..6064b66 100644 --- a/analyze.py +++ b/analyze.py @@ -23,7 +23,7 @@ print(f"\nLoading: {csv_path}\n") df = pd.read_csv(csv_path) # -------- Plot target vs current -------- -for coord in ["x", "y", "z"]: +for coord in ["x"]: plt.figure() plt.plot(df["time"], df[f"target_{coord}"], label=f"target_{coord}") plt.plot(df["time"], df[f"current_{coord}"], label=f"current_{coord}") @@ -42,15 +42,15 @@ for coord in ["x", "y", "z"]: plt.show() # -------- Plot error -------- -plt.figure() -plt.plot(df["time"], df["error_x"], label="error_x") -plt.plot(df["time"], df["error_y"], label="error_y") -plt.plot(df["time"], df["error_z"], label="error_z") - -plt.xlabel("Time (s)") -plt.ylabel("Error") -plt.title(f"PID Error — {csv_path.name}") -plt.legend(loc="upper right") -plt.grid(True) -plt.show() +# plt.figure() +# plt.plot(df["time"], df["error_x"], label="error_x") +# plt.plot(df["time"], df["error_y"], label="error_y") +# plt.plot(df["time"], df["error_z"], label="error_z") +# +# plt.xlabel("Time (s)") +# plt.ylabel("Error") +# plt.title(f"PID Error — {csv_path.name}") +# plt.legend(loc="upper right") +# plt.grid(True) +# plt.show() diff --git a/configurations/PID_med+.toml b/configurations/PID_med+.toml new file mode 100644 index 0000000..616cfdf --- /dev/null +++ b/configurations/PID_med+.toml @@ -0,0 +1,13 @@ +tickrate = 60000.0 +drone_tick_rate = 600 + +target_rate = 3.141592 + +proportional_multiplier = [0.10, 2.0, 0.10] +integral_multiplier = [0.0000001, 0.00000001, 0.0000001] +diferential_multiplier = [0.0000001, 0.0000001, 0.0000001] + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + diff --git a/configurations/PI_med+.toml b/configurations/PI_med+.toml new file mode 100644 index 0000000..a43f7ec --- /dev/null +++ b/configurations/PI_med+.toml @@ -0,0 +1,13 @@ +tickrate = 60000.0 +drone_tick_rate = 600 + +target_rate = 3.141592 + +proportional_multiplier = [0.10, 2.0, 0.10] +integral_multiplier = [0.0000001, 0.00000001, 0.0000001] +diferential_multiplier = [0.0, 0.0, 0.0] + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + diff --git a/configurations/proportional_high.toml b/configurations/proportional_high.toml new file mode 100644 index 0000000..f856e5f --- /dev/null +++ b/configurations/proportional_high.toml @@ -0,0 +1,13 @@ +tickrate = 60000.0 +drone_tick_rate = 600 + +target_rate = 3.141592 + +proportional_multiplier = [0.17, 2.0, 0.17] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + diff --git a/configurations/proportional_conservative.toml b/configurations/proportional_low.toml similarity index 100% rename from configurations/proportional_conservative.toml rename to configurations/proportional_low.toml diff --git a/configurations/proportional_med+++.toml b/configurations/proportional_med+++.toml new file mode 100644 index 0000000..e127c7d --- /dev/null +++ b/configurations/proportional_med+++.toml @@ -0,0 +1,13 @@ +tickrate = 60000.0 +drone_tick_rate = 600 + +target_rate = 3.141592 + +proportional_multiplier = [0.15, 2.0, 0.15] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + diff --git a/configurations/proportional_med++.toml b/configurations/proportional_med++.toml new file mode 100644 index 0000000..bab915c --- /dev/null +++ b/configurations/proportional_med++.toml @@ -0,0 +1,13 @@ +tickrate = 60000.0 +drone_tick_rate = 600 + +target_rate = 3.141592 + +proportional_multiplier = [0.12, 2.0, 0.12] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + diff --git a/configurations/proportional_med+.toml b/configurations/proportional_med+.toml new file mode 100644 index 0000000..a16f05a --- /dev/null +++ b/configurations/proportional_med+.toml @@ -0,0 +1,13 @@ +tickrate = 60000.0 +drone_tick_rate = 600 + +target_rate = 3.141592 + +proportional_multiplier = [0.11, 2.0, 0.11] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 + diff --git a/configurations/proportional_med.toml b/configurations/proportional_med.toml new file mode 100644 index 0000000..221f24d --- /dev/null +++ b/configurations/proportional_med.toml @@ -0,0 +1,13 @@ +tickrate = 60000.0 +drone_tick_rate = 600 + +target_rate = 3.141592 + +proportional_multiplier = [0.1, 2.0, 0.1] +integral_multiplier = [0.0, 0.0, 0.0] +diferential_multiplier = [0.0, 0.0, 0.0] + +max_thrust = 2.6 +max_torque = 0.5 +mass = 0.350 +