show beta in mini graphs

micromouseonline · Jan 8, 2023 · 45feb71 · 45feb71
1 parent c5ec265
commit 45feb71
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/main.py b/main.py
@@ -370,6 +370,7 @@ def plot_data(self):
         interval = self.path.trajectory.delta_t
         path_time = self.path.trajectory.time
         omega = self.path.trajectory.omega_ideal
+        beta = self.path.trajectory.beta
         speed = self.path.trajectory.speed
         alpha = self.path.trajectory.alpha
         left_speed = speed + self.robot.radius * np.radians(omega)
@@ -381,7 +382,8 @@ def plot_data(self):
 
         self.plot(path_time, interval * left_speed, axes[0], "L", palette[3])
         self.plot(path_time, interval * right_speed, axes[0], "R", palette[4])
-        self.plot(path_time, interval * speed * np.radians(omega), axes[1], "R", palette[2])
+        # self.plot(path_time, interval * speed * np.radians(omega), axes[1], "R", palette[2])
+        self.plot(path_time, beta, axes[1], "R", palette[2])
         self.plot(path_time, interval * alpha, axes[3], 'q', palette[6])
         self.plot(path_time, omega, axes[2], '', palette[5])
 

diff --git a/pgwidget.py b/pgwidget.py
@@ -18,8 +18,8 @@ def __init__(self, parent=None):
         p00.setYRange(0, 3.5)
 
         p01 = w.addPlot(row=0, col=1)     
-        p01.setTitle("centr'l acc (m/s/s)",**title_style)
-        p01.setYRange(0, 70)
+        p01.setTitle("beta (deg)",**title_style)
+        p01.setYRange(-20, 0)
 
         p10 = w.addPlot(row=1, col=0)     
         p10.setTitle("omega (deg/s)",**title_style)