jensandClaude Sonnet 4.6
81e66dbcd1
temp_controller.py, temp_controller_smith.py, and kalman.py imported matplotlib at module level just to support eyeballed-plot __main__ blocks, coupling the live server's import graph to a GUI plotting lib it never uses at runtime. Relocate those demos (and kalman_eval.py) to scripts/demos/pid/ and strip the now-unused imports/__main__ blocks from the production files. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
57 lines
1.1 KiB
Python
57 lines
1.1 KiB
Python
import numpy as np
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from matplotlib.pyplot import plot, figure, subplot, grid, show
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from components.pid.kalman import Kalman
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if __name__ == '__main__':
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dt = 1.0
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params = {
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'var_P' : 1,
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'var_Q' : 0.0001,
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'var_R' : 0.5
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}
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k = Kalman(dt, params)
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_x1 = np.empty(0)
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_y1 = np.empty(0)
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_x2 = np.empty(0)
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_y2 = np.empty(0)
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N = int(1000/dt)
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seqn = range(0, N)
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_seqn = range(0, 2*N)
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X = np.array([dt, 0])
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for n in seqn:
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Z = k.process_measurement(X, 0.5)
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# Kalman.print("Z:", Z)
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Xp = k.process(Z)
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_x1 = np.append(_x1, Z[0])
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_x2 = np.append(_x2, Z[1])
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_y1 = np.append(_y1, Xp[0])
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_y2 = np.append(_y2, Xp[1])
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for n in seqn:
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X[0] = X[0] + dt
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Z = k.process_measurement(X, 0.5)
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# Kalman.print("Z:", Z)
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Xp = k.process(Z)
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_x1 = np.append(_x1, Z[0])
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_x2 = np.append(_x2, Z[1])
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_y1 = np.append(_y1, Xp[0])
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_y2 = np.append(_y2, Xp[1])
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figure(1)
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subplot(2, 1, 1)
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plot(_seqn, _x1, 'bx', _seqn, _y1, '-r', linewidth=1)
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grid(True)
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subplot(2, 1, 2)
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plot(_seqn, _x2, 'bx', _seqn, _y2, '-r', linewidth=1)
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grid(True)
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show()
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print("End of program")
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