movesOnly = lowered
.filter((ir) => ir.op === "move")
.map((ir) => ({ x: ir.args.x, y: ir.args.y, z: ir.args.z }))
Plot.dot(movesOnly, {
x: "x",
y: "y"
}).plot()
Plot.plot({
inset: 10,
grid: true,
x: { label: "x position (in)", domain: [-5.5, -4.5], line: true },
y: { label: "y position (in)", domain: [-0.5, 0.5], line: true },
marks: [
Plot.dot(movesOnly, {
x: "x",
y: "y"
})
]
})
Plot.plot({
inset: 10,
grid: true,
x: { label: "x position (in)", domain: [-6, 6], line: true },
y: { label: "z position (in)", domain: [-2, 2], line: true },
marks: [
Plot.dot(movesOnly, {
x: "x",
y: "z"
})
]
})
roundToMultiple(12, 5)
// Bin
d3.bin().value((xyzi) => xyzi.z)(spoonMoves)
triples = beginningMoves.map((pt, idx, arr) => {
let before = idx > 0 ? arr[idx] : null;
let after = idx < arr.length ? arr[idx] : null;
return [before, pt, after];
})
function convolve(signal, filter) {
let outputLen = signal.length * 2;
let newSig = new Array(outputLen);
let sum = 0;
let signalMax = Math.max(Math.max(...signal), 1);
let filterMax = Math.max(Math.max(...filter), 1);
let normSignal = signal.map((e) => e / signalMax);
let normFilter = filter.map((e) => e / filterMax);
for (let i = 0; i < outputLen; i++) {
for (let j = Math.max(0, i - signal.length); j <= i; j++) {
let jInBounds = j < signal.length && i - j < filter.length;
if (jInBounds) {
sum += signal[j] * normFilter[i - j];
}
}
newSig[i] = sum;
sum = 0;
}
let begin = Math.floor(outputLen * 0.25);
let end = Math.floor(outputLen * 0.75);
return newSig.slice(begin, end);
}
xConvX = convolve(
beginningMoves.map((m) => m.x),
beginningMoves.map((m) => m.x)
)
squareWave = {
let len = 200;
let low = new Array(75).fill(0);
let high = new Array(50).fill(50);
return low.concat(high).concat(low);
}
sawToothWave = {
let len = 200;
let low = new Array(75).fill(0);
let high = new Array(50).fill(0).map((_, i) => -i + 50);
return low.concat(high).concat(low);
}
sawToothWave.slice(90, 110)
convolve(squareWave, sawToothWave).slice(140, 175)
Plot.plot({
inset: 10,
grid: true,
x: { label: "x position (in)", line: true },
y: { label: "z position (in)", line: true },
marks: [
Plot.lineY(squareWave),
Plot.lineY(sawToothWave),
Plot.lineY(convolve(squareWave, sawToothWave).map((e) => e / 25))
]
})
beginningMoves
{
let beginX = beginningMoves.map((m) => m.x);
let beginY = beginningMoves.map((m) => m.y);
let derivX = derivative(beginX);
let derivY = derivative(beginY);
return Plot.plot({
title: "Derivative of X and Y with respect to instruction",
width: 1280,
inset: 10,
grid: true,
x: { label: "instruction #", line: true },
y: { label: "velocity?? (in/s)", line: true },
marks: [
// Plot.lineY(beginX),
// Plot.lineY(beginY),
// Plot.lineY(convXY),
Plot.lineY(derivX)
//Plot.lineY(derivY)
]
});
}
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