new file: .vscode/settings.json
new file: Legs_controller.py modified: README.md new file: __pycache__/Legs_controller.cpython-310.pyc new file: __pycache__/Legs_controller.cpython-313.pyc new file: __pycache__/balance.cpython-310.pyc new file: __pycache__/gradio.cpython-310.pyc new file: __pycache__/gradio.cpython-313.pyc new file: app_ui.py new file: balance.py new file: build/.cmake/api/v1/query/client-vscode/query.json new file: build/.cmake/api/v1/reply/cache-v2-ae4a9db768b4bbb36baa.json new file: build/.cmake/api/v1/reply/cmakeFiles-v1-389eb8769a8295e7571d.json new file: build/.cmake/api/v1/reply/codemodel-v2-5ea8cfc0b9263cbe5ae5.json new file: build/.cmake/api/v1/reply/directory-.-Debug-f5ebdc15457944623624.json new file: build/.cmake/api/v1/reply/index-2025-09-11T04-53-20-0515.json new file: build/.cmake/api/v1/reply/target-imu_py-Debug-3913d741f2156d7faae9.json new file: build/.cmake/api/v1/reply/toolchains-v1-3105704d088db7adbfb5.json new file: build/CMakeCache.txt new file: build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake new file: build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin new file: build/CMakeFiles/3.22.1/CMakeSystem.cmake new file: build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file: build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file: build/CMakeFiles/CMakeDirectoryInformation.cmake new file: build/CMakeFiles/CMakeOutput.log new file: build/CMakeFiles/Makefile.cmake new file: build/CMakeFiles/Makefile2 new file: build/CMakeFiles/TargetDirectories.txt new file: build/CMakeFiles/cmake.check_cache new file: build/CMakeFiles/imu_py.dir/DependInfo.cmake new file: build/CMakeFiles/imu_py.dir/build.make new file: build/CMakeFiles/imu_py.dir/cmake_clean.cmake new file: build/CMakeFiles/imu_py.dir/compiler_depend.make new file: build/CMakeFiles/imu_py.dir/compiler_depend.ts new file: build/CMakeFiles/imu_py.dir/depend.make new file: build/CMakeFiles/imu_py.dir/flags.make new file: build/CMakeFiles/imu_py.dir/link.txt new file: build/CMakeFiles/imu_py.dir/progress.make new file: build/CMakeFiles/progress.marks new file: build/Makefile new file: build/cmake_install.cmake new file: build/compile_commands.json new file: dm_imu/bsp_crc.cpp new file: dm_imu/bsp_crc.h new file: dm_imu/imu_data.csv new file: dm_imu/imu_driver.cpp new file: dm_imu/imu_driver.h new file: dm_imu/imu_plot.png new file: dm_imu/plot_imu.py new file: dm_imu/test_imu.cpp new file: imu_data.csv new file: pybind_imu/CMakeLists.txt new file: pybind_imu/README.md new file: pybind_imu/build/CMakeCache.txt new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeCXXCompiler.cmake new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeDetermineCompilerABI_CXX.bin new file: pybind_imu/build/CMakeFiles/3.22.1/CMakeSystem.cmake new file: pybind_imu/build/CMakeFiles/3.22.1/CompilerIdCXX/CMakeCXXCompilerId.cpp new file: pybind_imu/build/CMakeFiles/3.22.1/CompilerIdCXX/a.out new file: pybind_imu/build/CMakeFiles/CMakeDirectoryInformation.cmake new file: pybind_imu/build/CMakeFiles/CMakeOutput.log new file: pybind_imu/build/CMakeFiles/Makefile.cmake new file: pybind_imu/build/CMakeFiles/Makefile2 new file: pybind_imu/build/CMakeFiles/TargetDirectories.txt new file: pybind_imu/build/CMakeFiles/cmake.check_cache new file: pybind_imu/build/CMakeFiles/imu_py.dir/DependInfo.cmake new file: pybind_imu/build/CMakeFiles/imu_py.dir/build.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/cmake_clean.cmake new file: pybind_imu/build/CMakeFiles/imu_py.dir/compiler_depend.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/compiler_depend.ts new file: pybind_imu/build/CMakeFiles/imu_py.dir/depend.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/flags.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/bsp_crc.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/bsp_crc.cpp.o.d new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/imu_driver.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/home/allenyuan/balance/dm_imu/imu_driver.cpp.o.d new file: pybind_imu/build/CMakeFiles/imu_py.dir/link.txt new file: pybind_imu/build/CMakeFiles/imu_py.dir/progress.make new file: pybind_imu/build/CMakeFiles/imu_py.dir/pybind_imu.cpp.o new file: pybind_imu/build/CMakeFiles/imu_py.dir/pybind_imu.cpp.o.d new file: pybind_imu/build/CMakeFiles/progress.marks new file: pybind_imu/build/Makefile new file: pybind_imu/build/cmake_install.cmake new file: pybind_imu/build/imu_py.cpython-310-aarch64-linux-gnu.so new file: pybind_imu/example.py new file: pybind_imu/pybind_imu.cpp new file: src/example.py new file: test_imu new file: u2can/DM_CAN.py new file: u2can/DM_Motor_Test.py new file: u2can/LICENSE new file: u2can/README.md new file: u2can/__pycache__/DM_CAN.cpython-310.pyc new file: u2can/__pycache__/DM_CAN.cpython-312.pyc new file: u2can/__pycache__/DM_CAN.cpython-313.pyc new file: u2can/__pycache__/gradio.cpython-313.pyc new file: u2can/__pycache__/motor_interface.cpython-313.pyc new file: u2can/motor_interface.py new file: u2can/requirements.txt new file: ui.log
This commit is contained in:
119
dm_imu/plot_imu.py
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119
dm_imu/plot_imu.py
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#!/usr/bin/env python3
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"""
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绘制 dm_imu/test_imu.cpp 生成的 CSV 数据。
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使用方式：
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1. 确保已安装 matplotlib（pip install matplotlib）。
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2. 运行 C++ 程序生成 imu_data.csv。
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3. 执行本脚本：
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python3 dm_imu/plot_imu.py
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4. 脚本会在同目录下生成 `imu_plot.png` 并显示图形窗口（如果有可视化环境）。
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"""
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import csv
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import os
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import sys
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import matplotlib.pyplot as plt
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def read_csv(csv_path):
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"""读取 CSV，返回每列的数据列表。"""
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if not os.path.isfile(csv_path):
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print(f"错误：未找到 CSV 文件 {csv_path}", file=sys.stderr)
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sys.exit(1)
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indices = []
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roll = []
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pitch = []
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yaw = []
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accx = []
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accy = []
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accz = []
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gyrox = []
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gyroy = []
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gyroz = []
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with open(csv_path, newline='') as f:
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reader = csv.DictReader(f)
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for row in reader:
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indices.append(int(row['index']))
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roll.append(float(row['roll']))
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pitch.append(float(row['pitch']))
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yaw.append(float(row['yaw']))
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accx.append(float(row['accx']))
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accy.append(float(row['accy']))
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accz.append(float(row['accz']))
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gyrox.append(float(row['gyrox']))
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gyroy.append(float(row['gyroy']))
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gyroz.append(float(row['gyroz']))
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return {
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'index': indices,
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'roll': roll,
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'pitch': pitch,
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'yaw': yaw,
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'accx': accx,
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'accy': accy,
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'accz': accz,
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'gyrox': gyrox,
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'gyroy': gyroy,
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'gyroz': gyroz,
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}
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def plot_data(data, out_path):
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"""绘制三组曲线（姿态、加速度、陀螺仪）并保存为 PNG。"""
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idx = data['index']
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plt.figure(figsize=(12, 9))
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# 1. 姿态（Roll, Pitch, Yaw）
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ax1 = plt.subplot(3, 1, 1)
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ax1.plot(idx, data['roll'], label='Roll')
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ax1.plot(idx, data['pitch'], label='Pitch')
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ax1.plot(idx, data['yaw'], label='Yaw')
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ax1.set_ylabel('Angle (°)')
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ax1.set_title('IMU 姿态')
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ax1.legend()
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ax1.grid(True)
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# 2. 加速度（X, Y, Z）
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ax2 = plt.subplot(3, 1, 2)
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ax2.plot(idx, data['accx'], label='Acc X')
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ax2.plot(idx, data['accy'], label='Acc Y')
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ax2.plot(idx, data['accz'], label='Acc Z')
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ax2.set_ylabel('Acceleration (g)')
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ax2.set_title('加速度')
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ax2.legend()
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ax2.grid(True)
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# 3. 陀螺仪（X, Y, Z）
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ax3 = plt.subplot(3, 1, 3)
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ax3.plot(idx, data['gyrox'], label='Gyro X')
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ax3.plot(idx, data['gyroy'], label='Gyro Y')
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ax3.plot(idx, data['gyroz'], label='Gyro Z')
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ax3.set_xlabel('Sample Index')
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ax3.set_ylabel('Angular Velocity (°/s)')
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ax3.set_title('陀螺仪')
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ax3.legend()
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ax3.grid(True)
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plt.tight_layout()
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plt.savefig(out_path)
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print(f"绘图已保存至 {out_path}")
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# 如果当前环境支持图形界面，显示窗口
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try:
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plt.show()
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except Exception:
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pass
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def main():
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script_dir = os.path.dirname(os.path.abspath(__file__))
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csv_path = os.path.join(script_dir, 'imu_data.csv')
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out_path = os.path.join(script_dir, 'imu_plot.png')
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data = read_csv(csv_path)
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plot_data(data, out_path)
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if __name__ == '__main__':
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main()
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