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@@ -0,0 +1,80 @@
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+library(ggplot2)
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+library(cowplot)
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+library(grid)
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+library(dplyr)
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+library(plyr)
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+library(reshape)
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+library(plotly)
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+library(stringr)
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+
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+sizeAxisLabel <- 22
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+
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+# Gather all results
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+data <- read.csv("controller_scenario_export.csv")
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+
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+data_molten <- melt(data, id=c("time"))
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+
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+
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+
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+# Plot Controller
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+ control <- subset(data_molten, variable == "controller.u_motor" | variable == "controller.d_motor")
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+
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+ pallete <- c("#9699c3",
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+ "#cca956")
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+ pcontrol <- ggplot(data=control) +
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+ geom_line(aes(x=time, y=value, color=variable, linetype=variable), size=1) +
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+ scale_x_continuous("Time (s)") +
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+ scale_y_continuous("Value", limits=c(0, 1)) +
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+ scale_color_manual("controller",
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+ labels=c("controller.u_motor"="u","controller.d_motor"="d"),
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+ values = pallete) +
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+ guides(color = guide_legend(override.aes = list(linetype = c('solid', 'dashed'))),
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+ linetype = FALSE) +
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+ theme(axis.title.y=element_blank(),
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+ axis.title=element_text(size=sizeAxisLabel,face="bold"),
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+ axis.text=element_text(size=sizeAxisLabel),
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+ legend.text=element_text(size=sizeAxisLabel),
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+ legend.title=element_text(size=sizeAxisLabel,face="bold"))
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+
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+ pcontrol
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+
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+# Plot power
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+ power <- subset(data_molten, variable == "controller.i")
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+
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+ pallete <- c("#4f314e")
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+ ppower <- ggplot(data=power) +
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+ geom_line(aes(x=time, y=value, color=variable), size=1) +
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+ scale_x_continuous("Time (s)") +
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+ scale_y_continuous("Value", limits=c(-5, 10)) +
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+ scale_color_manual("power",
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+ labels=c("controller.i"="armature_current"),
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+ values = pallete) +
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+ theme(axis.title.y=element_blank(),
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+ axis.title=element_text(size=sizeAxisLabel,face="bold"),
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+ axis.text=element_text(size=sizeAxisLabel),
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+ legend.text=element_text(size=sizeAxisLabel),
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+ legend.title=element_text(size=sizeAxisLabel,face="bold"))
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+ ppower
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+
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+# Plot window
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+ window <- subset(data_molten, variable == "window.displacement")
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+
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+ pallete <- c("#be5440")
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+ pwindow <- ggplot(data=window) +
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+ geom_line(aes(x=time, y=value, color=variable), size=1) +
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+ scale_x_continuous("Time (s)") +
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+ scale_y_continuous("Value") +
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+ scale_color_manual("window_sa",
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+ labels=c("height"="disp"),
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+ values = pallete) +
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+ theme(axis.title.y=element_blank(),
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+ axis.title=element_text(size=sizeAxisLabel,face="bold"),
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+ axis.text=element_text(size=sizeAxisLabel),
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+ legend.text=element_text(size=sizeAxisLabel),
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+ legend.title=element_text(size=sizeAxisLabel,face="bold"))
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+ pwindow
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+
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+# Make multi-grid plot
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+ row_plot <- plot_grid(pcontrol, ppower, pwindow, nrow = 3, ncol = 1, align = "v")
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+ save_plot("vertical_plot_monolithic.pdf", row_plot, nrow = 3, ncol = 1, base_aspect_ratio = 3)
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+
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