[WIP] Add plotting script for data analysis

scripts/plot_data_analysis.py

@@ -0,0 +1,75 @@
+"""
+Use as::
+
+    python plot_data /path/to/csv/file.csv
+
+Dependencies:
+
+    - python
+    - matplotlib
+    - numpy
+    - pandas
+
+"""
+import argparse
+
+import matplotlib.pyplot as plt
+#  plt.switch_backend('WebAgg')
+
+import numpy as np
+import pandas as pd
+
+def plot(csvfile):
+    """Returns a matplotlib axes with data in ``csvfile`` plotted.
+
+    The file should have column headers:
+
+    time : [s]
+    ay : body fixed lateral accelerometer component [m/s/s]
+    az : body fixed vertical accelerometer component [m/s/s]
+    wx : body fixed roll angular rate [rad/s]
+    wm : reaction wheel angular rate [rad/s]
+    theta_a : angle from accelerometer [rad]
+    theta_g : angle from gyroscope [rad]
+    theta_af : low pass filtered accelerometer angle [rad]
+    theta_gf : band pass filtered gyroscope angle [rad]
+    theta : complementary filtered roll angle estimate [rad]
+    I : command motor current [A]
+    """
+
+    df = pd.read_csv(csvfile, index_col='time', sep=";")
+
+#      fig, axes = plt.subplots(7, 1, sharex=True)
+    fig, axes = plt.subplots(4, 1, sharex=True)
+
+#      df[['ay', 'az']].plot(ax=axes[0])
+
+#      df[['wx']].apply(np.rad2deg).plot(ax=axes[1])
+
+#      df[['theta_a', 'theta_af']].apply(np.rad2deg).plot(ax=axes[2])
+
+#      df[['theta_g', 'theta_gf']].apply(np.rad2deg).plot(ax=axes[3])
+
+    df[['theta']].apply(np.rad2deg).plot(ax=axes[0])
+
+    df[['wm']].apply(lambda radps: radps*60.0/2.0/np.pi).plot(ax=axes[1])
+
+    df[['I']].plot(ax=axes[2])
+
+    df[['I']].apply(lambda x: -x).plot(ax=axes[3])
+    df[['theta']].apply(np.rad2deg).apply(lambda x: 6*x).plot(ax=axes[3])
+    df[['wm']].diff().apply(lambda x: 75*x).plot(ax=axes[3]).legend(['-I', '6*theta', '75*d_wm/dt'])
+
+#      df[['wm', 'I']].apply(np.rad2deg).plot(ax=axes[3])
+
+    return axes
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument('csvfile')
+    args = parser.parse_args()
+
+    plot(args.csvfile)
+    plt.show()