From 2c63020f756fdc16bdda0b10f6bbb50ae22781b7 Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Thu, 9 May 2019 21:16:06 -0700
Subject: [PATCH] more calibration

---
 calib/calib.nb      | 5072 +++++++++++++++++++++-----------------
 calib/calib.py      |   14 +-
 calib/calib2.nb     | 2294 +++++++++++++++++
 calib/calibaccel.nb | 5686 +++++++++++++++++++++++++++++++++++++++++++
 calib/calibgyro.nb  | 3904 +++++++++++++++++++++++++++++
 calib/calibmag.nb   | 3904 +++++++++++++++++++++++++++++
 ugv2_moving.csv     |  857 +++++++
 ugv2_rest.csv       |  731 ++++++
 8 files changed, 20210 insertions(+), 2252 deletions(-)
 create mode 100644 calib/calib2.nb
 create mode 100644 calib/calibaccel.nb
 create mode 100644 calib/calibgyro.nb
 create mode 100644 calib/calibmag.nb
 create mode 100644 ugv2_moving.csv
 create mode 100644 ugv2_rest.csv

diff --git a/calib/calib.nb b/calib/calib.nb
index 3d9941c..37adb9c 100644
--- a/calib/calib.nb
+++ b/calib/calib.nb
@@ -10,10 +10,10 @@
 NotebookFileLineBreakTest
 NotebookFileLineBreakTest
 NotebookDataPosition[       158,          7]
-NotebookDataLength[    143408,       3322]
-NotebookOptionsPosition[    140232,       3259]
-NotebookOutlinePosition[    140568,       3274]
-CellTagsIndexPosition[    140525,       3271]
+NotebookDataLength[    179209,       3896]
+NotebookOptionsPosition[    176031,       3833]
+NotebookOutlinePosition[    176366,       3848]
+CellTagsIndexPosition[    176323,       3845]
 WindowFrame->Normal*)
 
 (* Beginning of Notebook Content *)
@@ -35,7 +35,7 @@ Cell[BoxData[{
  RowBox[{
   RowBox[{"data", "=", 
    RowBox[{"Import", "[", 
-    RowBox[{"\"\<UGVDATA_2019-04-13 14-43-56.csv\>\"", ",", 
+    RowBox[{"\"\<ugv2_moving.csv\>\"", ",", 
      RowBox[{"HeaderLines", "\[Rule]", "1"}]}], "]"}]}], 
   ";"}], "\[IndentingNewLine]", 
  RowBox[{
@@ -46,8 +46,9 @@ Cell[BoxData[{
       RowBox[{"7", ";;", "9"}]}], "]"}], "]"}]}], ";"}]}], "Input",
  CellChangeTimes->{{3.764181138593279*^9, 3.764181180255095*^9}, {
   3.7641814517144814`*^9, 3.764181455934593*^9}, {3.764181490536357*^9, 
-  3.764181494963828*^9}, {3.764181657781171*^9, 3.7641816705271997`*^9}},
- CellLabel->"In[28]:=",ExpressionUUID->"9d982e0c-62ac-49c9-8fab-0efac1e57ee1"],
+  3.764181494963828*^9}, {3.764181657781171*^9, 3.7641816705271997`*^9}, {
+  3.766446368924687*^9, 3.766446374406006*^9}},
+ CellLabel->"In[3]:=",ExpressionUUID->"9d982e0c-62ac-49c9-8fab-0efac1e57ee1"],
 
 Cell[BoxData[
  RowBox[{
@@ -80,176 +81,287 @@ Cell[BoxData[
   3.764181311588319*^9}, {3.764181372869302*^9, 3.764181404947816*^9}, {
   3.764181593568303*^9, 3.764181595326483*^9}, {3.764181673887734*^9, 
   3.764181742499264*^9}},
- CellLabel->"In[30]:=",ExpressionUUID->"9e6d0196-dead-4dc5-9762-497e415abc3e"],
+ CellLabel->"In[6]:=",ExpressionUUID->"9e6d0196-dead-4dc5-9762-497e415abc3e"],
 
 Cell[CellGroupData[{
 
 Cell[BoxData[
  RowBox[{"plotdata", "[", "magdata", "]"}]], "Input",
  CellChangeTimes->{{3.764181745429572*^9, 3.7641817495884113`*^9}},
- CellLabel->"In[31]:=",ExpressionUUID->"55fc2693-bfc0-4284-878d-723d16de613e"],
+ CellLabel->"In[7]:=",ExpressionUUID->"55fc2693-bfc0-4284-878d-723d16de613e"],
 
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diff --git a/calib/calib.py b/calib/calib.py
index 8daee76..88774c2 100755
--- a/calib/calib.py
+++ b/calib/calib.py
@@ -2,17 +2,25 @@
 import serial
 import re
 import datetime
+import sys
 
 def capture_data():
     num_re = r"([\-0-9\.]+)"
     line_re = re.compile(r".*inputs: acc=\({0}, {0}, {0}\) gyro=\({0}, {0}, {0}\) mag=\({0}, {0}, {0}\)".format(num_re))
 
-    ser = serial.serial_for_url("hwgrep://", baudrate=115200, parity=serial.PARITY_NONE,
+    if len(sys.argv) >= 2:
+        ser_url = sys.argv[1]
+    else:
+        ser_url = "hwgrep://"
+    if len(sys.argv) >= 3:
+        fname = sys.argv[2]
+    else:
+        timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
+        fname = "UGVDATA_{}.csv".format(timestr)
+    ser = serial.serial_for_url(ser_url, baudrate=115200, parity=serial.PARITY_NONE,
                                 stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
                                 timeout=2.0)
     with ser:
-        timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
-        fname = "UGVDATA_{}.csv".format(timestr)
         with open(fname, "w") as f:
             try:
                 f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
diff --git a/calib/calib2.nb b/calib/calib2.nb
new file mode 100644
index 0000000..bfe9051
--- /dev/null
+++ b/calib/calib2.nb
@@ -0,0 +1,2294 @@
+(* Content-type: application/vnd.wolfram.mathematica *)
+
+(*** Wolfram Notebook File ***)
+(* http://www.wolfram.com/nb *)
+
+(* CreatedBy='Mathematica 11.3' *)
+
+(*CacheID: 234*)
+(* Internal cache information:
+NotebookFileLineBreakTest
+NotebookFileLineBreakTest
+NotebookDataPosition[       158,          7]
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+NotebookOutlinePosition[     99980,       2254]
+CellTagsIndexPosition[     99937,       2251]
+WindowFrame->Normal*)
+
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diff --git a/calib/calibmag.nb b/calib/calibmag.nb
new file mode 100644
index 0000000..335cd9c
--- /dev/null
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@@ -0,0 +1,3904 @@
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diff --git a/ugv2_rest.csv b/ugv2_rest.csv
new file mode 100644
index 0000000..cebaa5f
--- /dev/null
+++ b/ugv2_rest.csv
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