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Update utils/MotorDiagnostics.py

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This commit is contained in:
Atharv Nagavarapu
2025-12-08 23:42:55 +00:00
parent 663da5ac07
commit 5e91fe7697
1 changed files with 35 additions and 13 deletions
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48
utils/MotorDiagnostics.py
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@@ -9,6 +9,15 @@ hub = PrimeHub()
class MotorDiagnostics: class MotorDiagnostics:
def __init__(self): def __init__(self):
self.testmotor = None self.testmotor = None
self.port_map = {
"A": Port.A,
"B": Port.B,
"C": Port.C,
"D": Port.D,
"E": Port.E,
"F": Port.F,
}
def stdev(self, vals): def stdev(self, vals):
data = vals data = vals
if len(data) < 2: if len(data) < 2:
@@ -50,7 +59,7 @@ class MotorDiagnostics:
).strip().upper() ).strip().upper()
if motorinput in valid_ports: if motorinput in valid_ports:
self.testmotor = Motor(Port[motorinput]) self.testmotor = Motor(self.port_map[motorinput])
print(f"Motor initialized on port {motorinput}.") print(f"Motor initialized on port {motorinput}.")
break # exit the loop once a valid port is entered break # exit the loop once a valid port is entered
else: else:
@@ -62,40 +71,53 @@ class MotorDiagnostics:
motorspeeds = [] motorspeeds = []
motorloads = [] motorloads = []
target_angle = speed * 3 target_angle = speed * 3
print("\n", speed, "DEGREES PER SECOND TEST")
self.testmotor.run_angle(speed, target_angle, Stop.HOLD, False) self.testmotor.run_angle(speed, target_angle, Stop.HOLD, False)
while abs(self.testmotor.speed()) > 5: stopwatchmotor = StopWatch()
while stopwatchmotor.time() < 3000:
wait(20) wait(20)
motorspeeds.append(self.testmotor.speed()) motorspeeds.append(self.testmotor.speed())
motorloads.append(self.testmotor.load()) motorloads.append(self.testmotor.load())
max_speed, max_accel, max_torque = self.testmotor.control.limits() max_speed, max_accel, max_torque = self.testmotor.control.limits()
print("Maximum motor speed (deg/s):", max_speed)
print("Desired motor speed (degrees per second): ", str(speed))
print("Desired motor speed: ", str(speed))
if motorspeeds: if motorspeeds:
avg = sum(motorspeeds) / len(motorspeeds) avg = sum(motorspeeds) / len(motorspeeds)
print("Average motor speed (degrees per second):", avg) print("Average motor speed:", avg)
print("Motor speed deviation (this measures how much your motor deviates from the average speed):", str(self.stdev(motorspeeds))) print("Motor speed deviation:", str(self.stdev(motorspeeds)))
else: else:
print("No speed samples collected.") print("No speed samples collected.")
avg = 0 avg = 0
if motorloads: if motorloads:
avgload = sum(motorloads) / len(motorloads) avgload = sum(motorloads) / len(motorloads)
print("Average motor load (mNm):", avgload)
print("Motor load deviation (this measures how much your motor load deviates from the average load):", str(self.stdev(motorloads))) print("Average motor load:", avgload)
print("Motor load deviation:", str(self.stdev(motorloads)))
else: else:
print("No load samples collected.") print("No load samples collected.")
avgload = 0 avgload = 0
score = self.health_score(speed, avg, self.stdev(motorspeeds), avgload) score = self.health_score(speed, avg, self.stdev(motorspeeds), avgload)
print("Health score for this test:", score) print("Health score for this test:", str(score) + "%")
return score return score
def fullTest(self): def fullTest(self):
self.initializeMotor() self.initializeMotor()
print("Load measurements are in mNm. Speed measurements are in degrees per second.")
max_speed, max_accel, max_torque = self.testmotor.control.limits()
print("Maximum motor speed:", max_speed)
test180 = self.testSpeed(180) test180 = self.testSpeed(180)
test540 = self.testSpeed(540) test540 = self.testSpeed(540)
test1000 = self.testSpeed(1000) test1000 = self.testSpeed(1000)
print("FINAL MOTOR STATISTICS")
final = (test180 + test540 + test1000) / 3 final = (test180 + test540 + test1000) / 3
print("Final motor health score:", final) print("Final motor health score:", str(final) + "%")
# print final health scores here as a combination of the 3 speeds, include speeds individual scores and total score if final < 80:
print("Your motor is in need of attention. Make sure to clean it regularly and charge the Prime Hub.")
elif final < 90:
print("Your motor is in OK condition. Make sure to clean it regularly and charge the Prime Hub.")
elif final < 97:
print("Your motor is in great condition!")
else:
print("Your motor is in AMAZING condition!!!")