Added rough data analysis

analyze.py

+#!/usr/bin/python3
+
+import sys
+import numpy
+import matplotlib.pyplot as plt
+import math
+
+if __name__ == '__main__':
+    data = numpy.loadtxt(sys.argv[1])
+    print(data.shape)
+    assert data.shape[1] == 32, "Unexpected # columns %d" % data.shape[1]
+    seq = data[...,0]
+    kp = data[...,4:11]
+    d_kp = kp[1:,...]-kp[0:-1,...]
+    pos = (data[...,11:25] - data[0,11:25]) * 180 / math.pi
+    torque = (data[...,25:32:] - data[0,25:32])
+    for i in range(0,7):
+        n = 4000 - 500 * i
+        cut = slice(1000,1000+n)
+        f, axarr = plt.subplots(3, sharex=True)
+
+        axarr[0].set_title(r'$\Delta K_p$')
+        axarr[0].plot(seq[1:][cut],d_kp[...,i][cut])
+        axarr[1].set_title('$\Delta Position$')
+        axarr[1].plot(seq[cut],(pos[...,i*2]-pos[...,i*2+1])[cut])
+        axarr[2].set_title(r'Torque [Nm]')
+        axarr[2].plot(seq[cut],torque[...,i][cut])
+
+  
+    plt.show()
+