Code for the motor controller
This is basically what we used in Detroit.
Change-Id: If2820d7ec5fcbc5f33b4082025027a6e969ad0e1
diff --git a/motors/decode_dump.py b/motors/decode_dump.py
new file mode 100755
index 0000000..1010e88
--- /dev/null
+++ b/motors/decode_dump.py
@@ -0,0 +1,60 @@
+#!/usr/bin/python3
+
+# Pipe the binary data in and give the CSV output filename as an argument.
+
+import struct
+import sys
+import select
+
+DatapointStruct = struct.Struct('<11h')
+DATAPOINTS = 5000
+TOTAL_SIZE = DatapointStruct.size * DATAPOINTS
+
+data = bytes()
+while len(data) < TOTAL_SIZE:
+ read_now = sys.stdin.buffer.read(TOTAL_SIZE - len(data))
+ if not read_now:
+ print('EOF before data finished', file=sys.stderr)
+ sys.exit(1)
+ data += read_now
+print('%s' % len(data))
+
+readable, _, _ = select.select([sys.stdin.buffer], [], [], 1)
+if readable:
+ print('Extra bytes', file=sys.stderr)
+ sys.exit(1)
+
+decoded = []
+for i in range(DATAPOINTS):
+ datapoint = DatapointStruct.unpack_from(data, i * DatapointStruct.size)
+ decoded.append(datapoint)
+
+def current(reading, ref):
+ reading_voltage = reading / 4096 * 3.3 / 1.47 * (0.768 + 1.47)
+ #reading_ref = ref / 4096 * 3.3
+ reading_ref = 2.5
+ reading_ref = 0
+ return (reading_voltage - reading_ref) / 50 / 0.0003
+
+with open(sys.argv[1], 'w') as out:
+ out.write('current0.0,current1.0,current2.0,current0.1,current1.1,current2.1,count\n')
+ #for point in decoded[2000:7200]:
+ for point in decoded:
+ out.write(','.join(str(d) for d in (
+ current(point[0], point[6]),
+ current(point[1], point[6]),
+ current(point[2], point[6]),
+ #current(point[3], point[6]),
+ #current(point[4], point[6]),
+ #current(point[5], point[6]),
+ point[3] / 100.0,
+ point[4] / 100.0,
+ point[5] / 100.0,
+ point[6] / 100.0,
+ point[7] / 100.0,
+ point[8] / 100.0,
+ point[9] / 100.0,
+ point[10] / 100.0,
+ )) + '\n')
+
+print('all done')