tests/pup/motors: Add drive base logging test.

Author: laurensvalk

tests/pup/motors/log_drivebase.py

@@ -0,0 +1,63 @@
+# SPDX-License-Identifier: MIT
+# Copyright (c) 2020 The Pybricks Authors
+
+"""
+Hardware Module: Any medium-sized drive base with two angular medium motors.
+
+Description: Verifies data logging capability for a drive base.
+"""
+
+from pybricks.pupdevices import Motor
+from pybricks.tools import wait
+from pybricks.parameters import Port, Direction
+from pybricks.robotics import DriveBase
+
+# Initialize the motor and drive base.
+left_motor = Motor(Port.C, Direction.COUNTERCLOCKWISE)
+right_motor = Motor(Port.D)
+drive_base = DriveBase(left_motor, right_motor, wheel_diameter=44, axle_track=14 * 8)
+drive_base.reset()
+
+# Allocate logs for motors and controller signals.
+DURATION = 6000
+left_motor.log.start(DURATION)
+right_motor.log.start(DURATION)
+drive_base.distance_control.log.start(DURATION)
+drive_base.heading_control.log.start(DURATION)
+
+# Drive for half a meter.
+drive_base.straight(500)
+
+# Wait so we can also log hold capability, then turn off the motor completely.
+wait(100)
+drive_base.stop()
+
+# Save the data by printing it. Pybricksdev will capture the printed
+# data and save it to the given path relative to this script.
+left_motor.log.save("build/log_drive_base_left_motor.txt")
+right_motor.log.save("build/log_drive_base_right_motor.txt")
+drive_base.distance_control.log.save("build/log_drive_base_distance_control.txt")
+drive_base.heading_control.log.save("build/log_drive_base_heading_control.txt")
+
+
+# The logs can also be read from the user script. As a check, let's print the
+# distance and the estimated speed in a rotated plot. We show only 1 in 5
+# samples here and scale the speed and angle values for better visibility.
+
+start_distance = drive_base.distance_control.log.get(0)[2]
+
+for i in range(len(drive_base.distance_control.log) / 5):
+
+    # Read the (i * 3)th row in the data log.
+    values = drive_base.distance_control.log.get(i * 5)
+    speed = values[9]
+    angle = values[2] - start_distance
+
+    # Turn it into a line of spaces with * for speed and + for angle.
+    line = [ord(" ")] * 100
+    line[min(speed // 10, 99)] = ord("*")
+    line[min(angle // 36, 99)] = ord("+")
+
+    # Print it. Looked at it sideways, you should see a trapezoidal graph
+    # for speed and a gradual ramp for the angle as it drives forward.
+    print(bytes(line))

tests/pup/motors/log_servo.py

@@ -4,7 +4,7 @@
 """
 Hardware Module: 1
 
-Description: Verifies data logging capability.
+Description: Verifies data logging capability for a single motor with encoders.
 """
 
 from pybricks.pupdevices import Motor
@@ -32,8 +32,8 @@
 
 # Save the data by printing it. Pybricksdev will capture the printed
 # data and save it to the given path relative to this script.
-motor.log.save("build/servo_data.txt")
-motor.control.log.save("build/control_data.txt")
+motor.log.save("build/log_servo_servo.txt")
+motor.control.log.save("build/log_servo_control.txt")
 
 # The log can also be read from the user script. For fun, let's print the
 # position and the estimated speed in a rotated plot. We show only 1 in 3