A matplotlib based plotter for FRC logs and networktables
The lime-plotter application plots data collected from robots in the First Robotics Competitions and plots them to the screen or to a PNG file. It can read data from CSV based log files, or via a networktables server (IE, from a robot over its wireless network).
Install any needed modules and the lime-plotter itself:
pip3 -r requirements.txt python3 setup.py build python3 setup.py install
You may wish to run the install pass with the --user switch to install to your personal space.
Plots are specified either via complex command line arguments with the -p switch, or via easier-to-read-and-write YAML configuration files (see the example below).
Reading from logs
lime-plotter.py can be run with a -L switch to load CSV files from a file, multiple files, or a directory. EG calling it as:
lime-plotter.py -L DIR
Will load all the files it can from the DIR directory. Table names will be assumed from the CSV file names.
Reading from FRC network tables
To read from a network table, use the -N switch to specify the network address to connect to, and optionally a -T switch to specify a default table to read from.
lime-plotter.py -N 10.16.78.1 -t nettable
Listing available tables / columns
This works for both NetworkTables and CSV logs:
lime-plotter.py -N 10.16.78.1 -l
The following are YAML file configuration examples.
Example single graph
The following example configuration file specifies a single plot called position and plots two overlayed graphs from the robot's drivetrain_status table:
plots: position: - x: estimated_x_position y: estimated_y_position xmax: 7 xmin: -7 ymax: 7 ymin: -7 table: drivetrain_status fixedAspect: True title: X/Y Test - x: profiled_x_goal y: profiled_y_goal table: drivetrain_status last: 100
Saving this to xy.yml and running lime-plotter.py to load logs from a 'log' directory as follows:
lime-plotter.py -L log -y xy.yml -o xytest.png
Might produce the following graph:
Example multiple graphs
To display multiple plots, configuration files can contain multiple named entries:
plots: velocity: - y: linear_velocity - y: angular_velocity title: Velocity elevator: - y: elevator_height title: elevator Height
And run with
lime-plotter.py -L log -y multiple.yml -o multiple.yng
Will produce a graph similar to the following:
When plotting from networktables or with the -a switch applied, a window will open that will animate the data flowing over time (live in the case of networktables). You can use the -f switch to change the frame rate (when graphing CSV files, it'll draw faster with higher values -- the default is 20; when drawing from network tables it'll use this value as the polling frequency, and should be set to the same number of milliseconds that the robot is using to update tables).
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
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