feat: Cleanup, provide linear plot

absolute_encoder_calibration/util.py

@@ -97,22 +97,17 @@ def convert_value(
 
 
 def plot_joint_polar(fig, joint: "Calibration"):
-    def hrticks(ticks):
-        ticksk = round(float(ticks) / 1000)
-        return f"{ticksk}k ticks"
-
-    fig.suptitle(f"Range of Motion Analysis {joint.name}", fontsize=16, y=1.1)
-    fig.set_size_inches(10, 5)
-    ax = fig.add_subplot(projection="polar")  # Previously: 122.
-    ax.grid(False)
-    ax.set_theta_zero_location("N")
-    origin_radius = 0.01
-    radius = 1
-
-    y_low, y_high = joint.joint_limits_rad
-    if y_low is None or y_high is None:
-        y_low = -np.pi
-        y_high = np.pi
+    def hrticks(ticks, units: bool = True):
+        unit = "ticks" if units else ""
+        value = ticks
+        ks = ""
+        while True:
+            value = round(float(value) / 1000)
+            ks += "k"
+            if value < 1000:
+                break
+
+        return f"{value}{ks} {unit}"
 
     value_map = {}
     nearest_to_zero = None
@@ -129,24 +124,82 @@ def plot_joint_polar(fig, joint: "Calibration"):
             farthest_from_zero = abs(rad_value)
             farthest_from_zero_ticks = i
 
+    measured_zero_style = {
+        "color": "green",
+        "linestyle": "dashed",
+        "linewidth": 2
+    }
+
+    measured_lo_style = {
+        "color": "blue",
+        "linestyle": "dashed",
+        "linewidth": 2
+    }
+
+    measured_hi_style = {
+        "color": "red",
+        "linestyle": "dashed",
+        "linewidth": 2
+    }
+
+    discontinuity_style = {
+        "color": "green",
+    }
+
+    absolute_encoder_discontinuity_style = {
+        "color": "grey",
+        "linestyle": "dotted"
+    }
+
+    fig.suptitle(f"Range of Motion Analysis {joint.name}", fontsize=16, y=1.1)
+    fig.set_size_inches(10, 5)
+
+    linear_ax = fig.add_subplot(121)
+    linear_ax.plot(value_map.values(), value_map.keys())
+    linear_ax.axhline(y=0)
+    linear_ax.set_xlabel("Raw Encoder Value [Ticks]")
+    linear_ax.set_ylabel("Joint Angle [rad]")
+
+    xticks = range(0, joint.ticks_max + 1, joint.ticks_max // 4)
+
+    linear_ax.set_xticks(xticks)
+    linear_ax.set_xticklabels([hrticks(t, units=False) for t in xticks])
+
+    polar_ax = fig.add_subplot(122, projection="polar")
+    polar_ax.grid(False)
+    polar_ax.set_theta_zero_location("N")
+    polar_ax.set_title("Joint Angle [°]", size=11)
+    origin_radius = 0.01
+    radius = 1
+
+    y_low, y_high = joint.joint_limits_rad
+    if y_low is None or y_high is None:
+        y_low = -np.pi
+        y_high = np.pi
+
     # Zero (actual and corrected) according to absolute encoder.
     zero_model_appendix = ""
     if joint.measured_zero_ticks is not None:
         measured_zero = joint.convert_value(0)
         measured_zero_shifted = joint.convert_value(farthest_from_zero_ticks)
-        ax.vlines([measured_zero], [origin_radius], [radius], 'grey', 'dotted',
+        linear_ax.axvline(x=0, **absolute_encoder_discontinuity_style)
+        polar_ax.vlines([measured_zero], [origin_radius], [radius],
                   label="Zero, abs. enc (0 ticks)",
-                  clip_on=False)
+                  clip_on=False,
+                  **absolute_encoder_discontinuity_style)
         if joint.discontinuity_offset != 0:
-            ax.vlines([measured_zero_shifted], [origin_radius], [radius], 'green',
+            linear_ax.axvline(x=farthest_from_zero_ticks, **discontinuity_style)
+            polar_ax.vlines([measured_zero_shifted], [origin_radius], [radius],
                       label=f"Zero, abs. enc (corrected)",
-                      clip_on=False)
+                      clip_on=False,
+                      **discontinuity_style)
         zero_model_appendix = f" ({hrticks(joint.measured_zero_ticks)})"
 
     # Zero according to model.
-    ax.vlines([joint.convert_value(nearest_to_zero_ticks)], [origin_radius], [radius], 'green', 'dashed',
+    linear_ax.axvline(x=nearest_to_zero_ticks, **measured_zero_style)
+    polar_ax.vlines([joint.convert_value(nearest_to_zero_ticks)], [origin_radius], [radius],
               label=f"Zero, model{zero_model_appendix}",
-              clip_on=False, linewidth=2.0)
+              clip_on=False, **measured_zero_style)
 
     # Joint limits (measured).
     if joint.joint_limits_degree != (None, None):
@@ -155,12 +208,15 @@ def plot_joint_polar(fig, joint: "Calibration"):
             y_low_m = joint.convert_value(y_low_raw_t)
             y_high_m = joint.convert_value(y_high_raw_t)
 
-            ax.vlines([y_low_m], [origin_radius], [radius], 'blue', 'dashed',
+            linear_ax.axvline(x=joint.measured_lo_ticks, **measured_lo_style)
+            polar_ax.vlines([y_low_m], [origin_radius], [radius],
                       label=f"Joint limit low ({hrticks(y_low_raw_t)})",
-                      clip_on=False, linewidth=2.0)
-            ax.vlines([y_high_m], [origin_radius], [radius], 'red', 'dashed',
+                      clip_on=False, **measured_lo_style)
+
+            linear_ax.axvline(x=joint.measured_hi_ticks, **measured_hi_style)
+            polar_ax.vlines([y_high_m], [origin_radius], [radius],
                       label=f"Joint limit high ({hrticks(y_high_raw_t)})",
-                      clip_on=False, linewidth=2.0)
+                      clip_on=False, **measured_hi_style)
 
     # Labels and ticks.
     angles = list(np.linspace(-180, 180, 24 + 1))
@@ -177,22 +233,15 @@ def plot_joint_polar(fig, joint: "Calibration"):
         angle_xticklabels = f"{int(angle)}°"
         angles_xticks.append(angle_xticks)
         angles_xticklabels.append(angle_xticklabels)
-    ax.set_xticks(angles_xticks)
-    ax.set_xticklabels(angles_xticklabels)
-    ax.set_yticklabels([])
-    ax.set_xlim(y_low, y_high)
-    ax.set_ylim(0, radius)
-
-    #ax2 = fig.add_subplot(121)
-    #ax2.plot(value_map.values(), value_map.keys())
-    #ax2.axhline(y=0)
-    #ax2.axvline(x=joint.measured_lo_ticks, color="blue", linestyle="dashed")
-    #ax2.axvline(x=joint.measured_hi_ticks, color="red", linestyle="dashed")
-    #ax2.axvline(x=joint.measured_zero_ticks, color="green", linestyle="dashed")
+    polar_ax.set_xticks(angles_xticks)
+    polar_ax.set_xticklabels(angles_xticklabels)
+    polar_ax.set_yticklabels([])
+    polar_ax.set_xlim(y_low, y_high)
+    polar_ax.set_ylim(0, radius)
 
     # Legend.
     angle = np.deg2rad(45)
-    ax.legend(loc="lower left", bbox_to_anchor=(.75 + np.cos(angle) / 2, .5 + np.sin(angle) / 2))
+    polar_ax.legend(loc="lower left", bbox_to_anchor=(.75 + np.cos(angle) / 2, .5 + np.sin(angle) / 2))
 
 
 def inspect(joint: "Calibration"):