Run yapf on all python files in the repo
Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I221e04c3f517fab8535b22551553799e0fee7a80
diff --git a/motors/fet12/calib_sensors.py b/motors/fet12/calib_sensors.py
index 7d882de..16c0ef7 100755
--- a/motors/fet12/calib_sensors.py
+++ b/motors/fet12/calib_sensors.py
@@ -6,8 +6,9 @@
# calib_data_60*.csv has each output channel set at a constant value of 60.
# calib_data_6030*.csv actuates two channels.
+
def calibrate(fnames):
- """Do fitting to calibrate ADC data given csv files.
+ """Do fitting to calibrate ADC data given csv files.
CSVs should be of format:
command_a, command_b, command_c, reading0, reading1, reading2
@@ -17,24 +18,25 @@
only care about the averaged samples because otherwise the solution matrix
can't be solved for in a stable manner.
"""
- data = np.zeros((1, 6))
- for fname in fnames:
- data = np.vstack((data, np.genfromtxt(fname, delimiter=',')))
- data = data[1:, :]
+ data = np.zeros((1, 6))
+ for fname in fnames:
+ data = np.vstack((data, np.genfromtxt(fname, delimiter=',')))
+ data = data[1:, :]
- data = data[:, :6]
+ data = data[:, :6]
- b = data[:, 0:3]
- b = b - np.tile(np.mean(b, axis=1), (3, 1)).T
- # Vcc / 3000 / R
- # 3000 converts duty cycle in FTM ticks to fraction of full.
- b *= 20.9 / 3000.0 / 0.0079
- A = data[:, 3:]
+ b = data[:, 0:3]
+ b = b - np.tile(np.mean(b, axis=1), (3, 1)).T
+ # Vcc / 3000 / R
+ # 3000 converts duty cycle in FTM ticks to fraction of full.
+ b *= 20.9 / 3000.0 / 0.0079
+ A = data[:, 3:]
- return np.linalg.lstsq(A, b[:])[0].T
+ return np.linalg.lstsq(A, b[:])[0].T
+
if __name__ == "__main__":
- if len(sys.argv) < 2:
- print("Need filenames for data")
- sys.exit(1)
- print(calibrate(sys.argv[1:]))
+ if len(sys.argv) < 2:
+ print("Need filenames for data")
+ sys.exit(1)
+ print(calibrate(sys.argv[1:]))