pid_plot_viewer.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "import pandas as pd"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "ename": "EmptyDataError",
     "evalue": "No columns to parse from file",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mEmptyDataError\u001b[0m                            Traceback (most recent call last)",
      "Cell \u001b[0;32mIn[2], line 1\u001b[0m\n\u001b[0;32m----> 1\u001b[0m df \u001b[38;5;241m=\u001b[39m \u001b[43mpd\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mread_csv\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[38;5;124;43mpid_data.csv\u001b[39;49m\u001b[38;5;124;43m\"\u001b[39;49m\u001b[43m)\u001b[49m\n\u001b[1;32m      3\u001b[0m plt\u001b[38;5;241m.\u001b[39mplot(df[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mtime\u001b[39m\u001b[38;5;124m\"\u001b[39m], df[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mheading\u001b[39m\u001b[38;5;124m\"\u001b[39m], color\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mr\u001b[39m\u001b[38;5;124m\"\u001b[39m, label\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mheading\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[1;32m      4\u001b[0m plt\u001b[38;5;241m.\u001b[39mplot(df[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mtime\u001b[39m\u001b[38;5;124m\"\u001b[39m], df[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mdesired_heading\u001b[39m\u001b[38;5;124m\"\u001b[39m], color\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mg\u001b[39m\u001b[38;5;124m\"\u001b[39m, label\u001b[38;5;241m=\u001b[39m\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mdesired heading\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n",
      "File \u001b[0;32m~/.local/lib/python3.10/site-packages/pandas/io/parsers/readers.py:1026\u001b[0m, in \u001b[0;36mread_csv\u001b[0;34m(filepath_or_buffer, sep, delimiter, header, names, index_col, usecols, dtype, engine, converters, true_values, false_values, skipinitialspace, skiprows, skipfooter, nrows, na_values, keep_default_na, na_filter, verbose, skip_blank_lines, parse_dates, infer_datetime_format, keep_date_col, date_parser, date_format, dayfirst, cache_dates, iterator, chunksize, compression, thousands, decimal, lineterminator, quotechar, quoting, doublequote, escapechar, comment, encoding, encoding_errors, dialect, on_bad_lines, delim_whitespace, low_memory, memory_map, float_precision, storage_options, dtype_backend)\u001b[0m\n\u001b[1;32m   1013\u001b[0m kwds_defaults \u001b[38;5;241m=\u001b[39m _refine_defaults_read(\n\u001b[1;32m   1014\u001b[0m     dialect,\n\u001b[1;32m   1015\u001b[0m     delimiter,\n\u001b[0;32m   (...)\u001b[0m\n\u001b[1;32m   1022\u001b[0m     dtype_backend\u001b[38;5;241m=\u001b[39mdtype_backend,\n\u001b[1;32m   1023\u001b[0m )\n\u001b[1;32m   1024\u001b[0m kwds\u001b[38;5;241m.\u001b[39mupdate(kwds_defaults)\n\u001b[0;32m-> 1026\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43m_read\u001b[49m\u001b[43m(\u001b[49m\u001b[43mfilepath_or_buffer\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mkwds\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/.local/lib/python3.10/site-packages/pandas/io/parsers/readers.py:620\u001b[0m, in \u001b[0;36m_read\u001b[0;34m(filepath_or_buffer, kwds)\u001b[0m\n\u001b[1;32m    617\u001b[0m _validate_names(kwds\u001b[38;5;241m.\u001b[39mget(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mnames\u001b[39m\u001b[38;5;124m\"\u001b[39m, \u001b[38;5;28;01mNone\u001b[39;00m))\n\u001b[1;32m    619\u001b[0m \u001b[38;5;66;03m# Create the parser.\u001b[39;00m\n\u001b[0;32m--> 620\u001b[0m parser \u001b[38;5;241m=\u001b[39m \u001b[43mTextFileReader\u001b[49m\u001b[43m(\u001b[49m\u001b[43mfilepath_or_buffer\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwds\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m    622\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m chunksize \u001b[38;5;129;01mor\u001b[39;00m iterator:\n\u001b[1;32m    623\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m parser\n",
      "File \u001b[0;32m~/.local/lib/python3.10/site-packages/pandas/io/parsers/readers.py:1620\u001b[0m, in \u001b[0;36mTextFileReader.__init__\u001b[0;34m(self, f, engine, **kwds)\u001b[0m\n\u001b[1;32m   1617\u001b[0m     \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39moptions[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mhas_index_names\u001b[39m\u001b[38;5;124m\"\u001b[39m] \u001b[38;5;241m=\u001b[39m kwds[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mhas_index_names\u001b[39m\u001b[38;5;124m\"\u001b[39m]\n\u001b[1;32m   1619\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mhandles: IOHandles \u001b[38;5;241m|\u001b[39m \u001b[38;5;28;01mNone\u001b[39;00m \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mNone\u001b[39;00m\n\u001b[0;32m-> 1620\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_engine \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43m_make_engine\u001b[49m\u001b[43m(\u001b[49m\u001b[43mf\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mengine\u001b[49m\u001b[43m)\u001b[49m\n",
      "File \u001b[0;32m~/.local/lib/python3.10/site-packages/pandas/io/parsers/readers.py:1898\u001b[0m, in \u001b[0;36mTextFileReader._make_engine\u001b[0;34m(self, f, engine)\u001b[0m\n\u001b[1;32m   1895\u001b[0m     \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mValueError\u001b[39;00m(msg)\n\u001b[1;32m   1897\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[0;32m-> 1898\u001b[0m     \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43mmapping\u001b[49m\u001b[43m[\u001b[49m\u001b[43mengine\u001b[49m\u001b[43m]\u001b[49m\u001b[43m(\u001b[49m\u001b[43mf\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43moptions\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m   1899\u001b[0m \u001b[38;5;28;01mexcept\u001b[39;00m \u001b[38;5;167;01mException\u001b[39;00m:\n\u001b[1;32m   1900\u001b[0m     \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mhandles \u001b[38;5;129;01mis\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28;01mNone\u001b[39;00m:\n",
      "File \u001b[0;32m~/.local/lib/python3.10/site-packages/pandas/io/parsers/c_parser_wrapper.py:93\u001b[0m, in \u001b[0;36mCParserWrapper.__init__\u001b[0;34m(self, src, **kwds)\u001b[0m\n\u001b[1;32m     90\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m kwds[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mdtype_backend\u001b[39m\u001b[38;5;124m\"\u001b[39m] \u001b[38;5;241m==\u001b[39m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mpyarrow\u001b[39m\u001b[38;5;124m\"\u001b[39m:\n\u001b[1;32m     91\u001b[0m     \u001b[38;5;66;03m# Fail here loudly instead of in cython after reading\u001b[39;00m\n\u001b[1;32m     92\u001b[0m     import_optional_dependency(\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mpyarrow\u001b[39m\u001b[38;5;124m\"\u001b[39m)\n\u001b[0;32m---> 93\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_reader \u001b[38;5;241m=\u001b[39m \u001b[43mparsers\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mTextReader\u001b[49m\u001b[43m(\u001b[49m\u001b[43msrc\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[38;5;241;43m*\u001b[39;49m\u001b[43mkwds\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m     95\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39munnamed_cols \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39m_reader\u001b[38;5;241m.\u001b[39munnamed_cols\n\u001b[1;32m     97\u001b[0m \u001b[38;5;66;03m# error: Cannot determine type of 'names'\u001b[39;00m\n",
      "File \u001b[0;32mparsers.pyx:581\u001b[0m, in \u001b[0;36mpandas._libs.parsers.TextReader.__cinit__\u001b[0;34m()\u001b[0m\n",
      "\u001b[0;31mEmptyDataError\u001b[0m: No columns to parse from file"
     ]
    }
   ],
   "source": [
    "df = pd.read_csv(\"pid_data.csv\")\n",
    "\n",
    "plt.plot(df[\"time\"], df[\"heading\"], color=\"r\", label=\"heading\")\n",
    "plt.plot(df[\"time\"], df[\"desired_heading\"], color=\"g\", label=\"desired heading\")\n",
    "plt.legend()\n",
    "plt.xlabel(\"Time (s)\") \n",
    "plt.ylabel(\"Degrees\") \n",
    "plt.title(\"Heading vs. Desired Heading PID\") \n",
    "\n"
   ]
  }
 ],
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