Add feature that allow user change the motor speed when running

script/plot.py

@@ -1,17 +1,40 @@
 import matplotlib.pyplot as plt
 import numpy as np
 
-data = np.genfromtxt('data.txt', delimiter=' ->', dtype=float)
+# Initialize lists to store time and RPM values
+time_values = []
+rpm_values = []
 
-##########
-TicksPerSecond = 20 # <--- ONLY MODIFY HERE
-##########
+# Set the TicksPerSecond variable
+TicksPerSecond = 20  # <--- ONLY MODIFY HERE
 
-time_interval = (1 / TicksPerSecond)
-time = np.arange(0, len(data) * time_interval, time_interval)
-speed = data[:, 1]
+# Read data from file
+with open('data.txt', 'r') as file:
+    for line in file:
 
-plt.plot(time, speed)
+        # check if the line is blank or not
+        if not line.strip():
+            continue
+
+        try:
+            # Split the line using '|' as a delimiter
+            data = line.strip().split('|')
+            # Check if there are at least three '|' symbols
+            if len(data) < 4:
+                continue
+
+            # Extract time and RPM values from the data
+            time = float(data[1].strip())
+            rpm = float(data[3].strip())
+
+            # Append values to the lists
+            time_values.append(time / TicksPerSecond)
+            rpm_values.append(rpm)
+
+        except ValueError as e:
+            continue  # Skip lines with incorrect format
+
+plt.plot(time_values, rpm_values)
 plt.xlabel('Time (s)')
 plt.ylabel('Speed (rad/s)')
 plt.title('Speed Response')

src/user/main.c

@@ -80,7 +80,7 @@ static void vspeedTask(void *params)
         xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
         speed_A = 60 * (pulse_A - pre_pulse_A) * (20.0) / 1000.0 / (1.785);
         if (display_speed) {
-            xsprintf(message, "%d ->%d \n\r", count++, (int) speed_A);
+            xsprintf(message, "|%d| -> |%d| RPM\n\r", count++, (int) speed_A);
             ptransmit = message;
             xQueueSend(uart_write_queue, &ptransmit, portMAX_DELAY);
         }
@@ -322,6 +322,8 @@ void command_pmdc(char message[])
     while (1) {
         memset(input, 0, MAX_BUFFER_LENGTH);
         while (xgets(input, MAX_BUFFER_LENGTH)) {
+
+            /* turn off pmdc control */
             if (!strncmp(input, "quit", 4)) {
                 // deinit DAC GPIOB GPIOD
                 DAC_Reset();
@@ -331,6 +333,17 @@ void command_pmdc(char message[])
                 xprintf("Stop to control motor ...\n\r");
                 return;
             }
+
+            /* change the speed */
+            uint32_t new_speed = 0;
+            char *pInput = input;
+            if(xatoi(&pInput, (int32_t *)&new_speed)){
+                if ((new_speed > MAX_VOLT) || (new_speed < 0))
+                    xprintf("Invaliad input, volt should be in 0 ~ %d\n\r", MAX_VOLT);
+                else{
+                    DAC_Output_value = new_speed;
+                }
+            }
         }
     }
 }