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 install --user --upgrade frc1678-lime-plotter
Things to plot 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 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 -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 -N 10.0.0.1 -T nettable
Listing available tables / columns
This works for both NetworkTables and CSV logs:
lime-plotter -N 10.0.0.1 -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 to load logs from a 'log' directory as follows:
lime-plotter -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. Note that in this case the tool will try and find the right table for you; I.E. you don't need to specify the table or even x column if you don't wish.
plots: velocity: - y: linear_velocity - y: angular_velocity title: Velocity elevator: - y: elevator_height title: elevator Height
And run with
lime-plotter -L log -y multiple.yml -o multiple.yng
Will produce a graph similar to the following:
Note: you can use the -Y flag to plot only a selected set of sections
of the YAML file. EG
lime-plotter -L log -y multiple.yml -Y velocity
will plot only the first graph.
Including an svg image (such as a field map)
Can be done with a 'data_source' entry inside a plot:
plots: - data_source: svg file: 2020map.svg xmax: 629.25 # scale svg to these dimensions ymax: 323.25 # (2020 dimensions in inches) alpha: .5
Here's a copy of the FRC 2020 map as a plottable SVG:
Including built in maps
The following map files can be specified without actually having a file present, as they're included in the package data:
- 2020map.svg (just the playing field)
- 2020map-rev.svg (reverses the playing field top to bottom)
- 2020map-full.svg (the full field with human areas)
adding offsets for your robot's starting position
When your robot starts at a point in the field, you can adjust it's
yoff values to set the offsets into the field, with
being in the bottom left.
plots: position: - x: Robot X y: Robot Y xoff: 100 yoff: 50 fixedAspect: true
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).
You can turn on time markers, that mark bigger dots every N seconds with configuration like:
plots: timemarkers: # plot the regular robot x/y coordinates - x: Robot X y: Robot Y fixedAspect: true # Plot a larger (size 20) dot every 1 second ontop the Robot X/Y marks - data_source: timer marker_size: 20 x: Robot X y: Robot Y delta: 1
Release history Release notifications | RSS feed
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
|Filename, size||File type||Python version||Upload date||Hashes|
|Filename, size frc1678_lime_plotter-0.6.2-py3-none-any.whl (426.3 kB)||File type Wheel||Python version py3||Upload date||Hashes View|
|Filename, size frc1678-lime-plotter-0.6.2.tar.gz (416.2 kB)||File type Source||Python version None||Upload date||Hashes View|
Hashes for frc1678_lime_plotter-0.6.2-py3-none-any.whl
Hashes for frc1678-lime-plotter-0.6.2.tar.gz