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Co-authored-by: Copilot <copilot@github.com>
Integrates the locomotion-mode pipeline end-to-end and adds supporting diagnostics + offline-replay tooling. Control logic: - __main__: read classification_left/right per row and call amplitude_modulation.set_mode each sample; respect main_switch with controller reset on the falling edge; add --fast batch mode that dumps every internal intermediate to <input>_output.csv and opens the result in the new CSV inspector. - WalkOnController: expose last_filtered_signal and last_gait_phase_rad; safety-gate the motor command to 0 when the filtered angle is negative. - AmplitudeModulation: cache per-stage values in a new AmplitudeIntermediates dataclass; retune Ascend/Descend stair-mode scale/power parameters. - MotorReferenceController / SogiFllFiltering / SensorPreprocessor: expose last_* attributes for offline logging of internal signals. - PreprocessorConfig: new VelocityInputAngle option (RAW / DRIFT_REMOVED / FILTERED); default keeps the previous behavior. - definitions: retune SOGI cadence bounds, initial frequency guess, LPF cutoffs, AMPLITUDE_GAIN (-6.5 -> -7), PID P gain (14 -> 8). Add main_switch column constant. Tooling: - CSVPlayer: tolerate semicolon delimiters, European decimals, alternate header names, missing timestamp/velocity/main_switch/ classification columns. Returns a new PlayerStep bundle. - plotter: new Simulink-Data-Inspector-style csv_inspector module with linked-axis stacked subplots and per-subplot pan/zoom/pick tools. Runnable via 'python -m hip_controller.plotter'. - __init__: fall back to '0.0.0+unknown' when neither installed package metadata nor pyproject.toml is reachable. - Tests updated for the PlayerStep return type; new csv_inspector tests added. Also includes a small ruff-format-driven consolidation of duplicate imports in tests/conftest.py. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
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Note: the plot tests are skipped in CI because certain libraries from PyQt6 cannot be imported in the CI environment. I modified |
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make treeto update the README.mdAdditional Notes