Generate output from feedback examples

ch01.py

@@ -47,7 +47,7 @@ def target( t ):
         u = target(t)
         y = p.work( u )
 
-        print t, u, 0, u, y
+        print (t, u, 0, u, y)
 
 def closed_loop( c, p, tm=5000 ):
     def setpoint( t ):
@@ -62,7 +62,8 @@ def setpoint( t ):
         u = c.work(e)
         y = p.work(u)
 
-        print t, r, e, u, y
+        print (t, r, e, u, y)
+
 
 # ============================================================
 
@@ -71,7 +72,3 @@ def setpoint( t ):
 
 # open_loop( p, 1000 )
 closed_loop( c, p, 1000 )
-
-
-
-

ch02.py

@@ -3,10 +3,12 @@
 import math
 
 r = 0.6
-k = float( sys.argv[1] ) # 50..175
+k = 50 # float( sys.argv[1] ) # 50..175
 
-print "r=%f\tk=%f\n" % ( r, k ); t=0
-print r, 0, 0, 0, 0
+print ( "r=%f\tk=%f\n" % ( r, k ))
+t=0
+
+print ( r, 0, 0, 0, 0)
 
 def cache( size ):
     if size < 0:
@@ -24,4 +26,4 @@ def cache( size ):
     u = k*c        # control action
     y = cache(u)   # process output
 
-    print r, e, c, u, y
+    print ( r, e, c, u, y)

ch03.py

@@ -1,8 +1,8 @@
 
 import sys
 
-r = float(sys.argv[1]) # Reference or "setpoint"
-k = float(sys.argv[2]) # Controller gain
+r = 10 # float(sys.argv[1]) # Reference or "setpoint"
+k = .10 # float(sys.argv[2]) # Controller gain
 
 u = 0        # "Previous" output
 for _ in range( 200 ):
@@ -11,4 +11,4 @@
     e = r - y    # Tracking error
     u = k*e      # Controller ouput
 
-    print r, e, 0, u, y
+    print (r, e, 0, u, y)

ch14-adserving.py

@@ -93,7 +93,7 @@ def specialsteptest():
         y = p.work( u )
         z = f.work( y )
 
-        print t, t*fb.DT, r, 0, u, u, y, z, p.monitoring()
+        print( t, t*fb.DT, r, 0, u, u, y, z, p.monitoring())
 
     quit()
 
@@ -103,12 +103,12 @@ def specialsteptest():
 
     fb.DT = 1
 
-#   statictest()
+    #statictest()
 
-#    closedloop( 0.5, 0.25 ) # default
-#    closedloop( 0.0, 0.25 ) # w/o prop ctrl
-#    closedloop( 0.0, 1.75 )  # ringing
-    
-#    closedloop( 1.0, 0.125, fb.RecursiveFilter(0.125) ) # 
-        
-#    closedloop_accumul( 0.5, 0.125 )
+    closedloop( 0.5, 0.25 ) # default
+    closedloop( 0.0, 0.25 ) # w/o prop ctrl
+    closedloop( 0.0, 1.75 )  # ringing
+
+    closedloop( 1.0, 0.125, fb.RecursiveFilter(0.125) ) #
+
+    closedloop_accumul( 0.5, 0.125 )

data/generate-data.py

@@ -0,0 +1,19 @@
+"""
+Generate data from example code and store in files for analysis.
+
+* Select all local files and filter to chapter code
+* Run each file sequentially
+* Store the output in a file named after the script that generated it with a 'data' suffix
+"""
+
+import os
+import fnmatch
+
+DIR = 'data/'
+SUFFIX = '.data'
+
+scripts = [file for file in os.listdir() if fnmatch.fnmatch(file, 'ch*.py')]
+
+for script in scripts:
+    print('Running: ' + script)
+    os.system('python {} > {}'.format(script, DIR + script.replace('.py', SUFFIX)))

feedback.py

@@ -258,7 +258,7 @@ def static_test( plant_ctor, ctor_args, umax, steps, repeats, tmax ):
             for t in range( tmax ):
                 y = p.work(u)
 
-            print u, y
+            print (u, y)
 
     quit()
 
@@ -268,7 +268,7 @@ def step_response( setpoint, plant, tm=5000 ):
         u = r
         y = plant.work( u )
 
-        print t, t*DT, r, 0, u, u, y, y, plant.monitoring()
+        print (t, t*DT, r, 0, u, u, y, y, plant.monitoring())
 
     quit()
 
@@ -278,7 +278,7 @@ def open_loop( setpoint, controller, plant, tm=5000 ):
         u = controller.work( r )
         y = plant.work( u )
 
-        print t, t*DT, r, 0, u, u, y, y, plant.monitoring()
+        print (t, t*DT, r, 0, u, u, y, y, plant.monitoring())
 
     quit()
 
@@ -294,7 +294,7 @@ def closed_loop( setpoint, controller, plant, tm=5000, inverted=False,
         y = plant.work(v)
         z = returnfilter.work(y)
 
-        print t, t*DT, r, e, u, v, y, z, plant.monitoring()
+        print (t, t*DT, r, e, u, v, y, z, plant.monitoring())
 
     quit()