servo-check - Servo motor sensor check.

Analyse servo motor sensor data.

Usage

servo-check - Servo motor sensor check.
Usage: Usage: servo-check [flags] data-file
Option flags:
  -h --help          - Show this help and exit.
  -v --verbose       - Verbose execution.
  -V --version       - Display the program version number.
  --e-len            - Encoder filter length (e-len > 1).  Default: '400'.
  --p-len            - Potentiometer filter length (p-len > 1).  Default: '400'.
  --error-limit      - Error detection limit (error-limit > 1).  Default: '400'.
  --phase-lag        - Phase adjustment in seconds.  Default: '0.200500'.
  -f --show-filtered - Print filtered signal data to stdout.
  -s --show-stats    - Print signal stats to stdout at program exit.
Send bug reports to geoff@infradead.org.

Program Flow

=====
main:
=====

[start]->[parse opts]->[initialize parameters]->[(process file)]->[cleanup]->[end]

=============
process file:
=============

->[open file]--->[read line]->[(process line)]-+->[close file]->
              ^                                |
              +--------------------------------+

=============
process line:
=============
                 +----------------+
                 |                V
->[parse line]->-+->[calibration]--->[(run filters)]->[update stats]->[(process data)]->

============
run filters:
============

ave_encoder_value = filter(raw_encoder_value);

scaled_pot_value = scale(raw_pot_value);
ave_raw_pot_value = filter(scaled_pot_value);

=============
process data:
=============
                                  +--------------------+
                                  |                    V
->[calculate error]->[test limit]--->[print error msg]--->

======================
moving average filter:
======================

y = (x + x[n-1] + ... + x[n-len-1]) / len

y = sum / len

sum = sum - oldest_x + x


data[] = { x[5], x[1], x[2], x[3], x[4] }
                  ^ head

Typical Output

System OK
------------------------------------------------------------------------
params:      e-len = 400, p-len = 400
enc:         min = {3.693000, -10849}, max = {2.691000, 17839}
pot:         min = {3.696000, -10655}, max = {2.688000, 18143}
signal diff: min = {0.003000, 194}, max = {-0.003000, 304} => -110
sample diff: enc = {3.112000, 9409}, pot = {3.112000, 9752} => 343
------------------------------------------------------------------------

Sensor Error: 2.881500
------------------------------------------------------------------------
params:      e-len = 400, p-len = 400
enc:         min = {1.018000, 0}, max = {2.691000, 17839}
pot:         min = {3.696000, -10655}, max = {2.688000, 18143}
signal diff: min = {2.678000, -10655}, max = {-0.003000, 304} => -10959
sample diff: enc = {3.690000, 7363}, pot = {3.690000, -10655} => 18018
------------------------------------------------------------------------

Licence

All files in the servo-check project, unless otherwise noted, are covered by an MIT Plus License. The text of the license describes what usage is allowed.