push new exoskeleton code

examples/hopejr/exoskeleton/plottest.py

@@ -0,0 +1,46 @@
+import serial
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+from collections import deque
+
+# Adjust this to match your actual serial port and baud rate
+SERIAL_PORT = '/dev/ttyACM0'  # or COM3 on Windows
+BAUD_RATE = 115200
+
+# Set up serial connection
+ser = serial.Serial(SERIAL_PORT, BAUD_RATE)
+
+# Buffers for real-time plot
+buffer_len = 200
+val1_buffer = deque([0]*buffer_len, maxlen=buffer_len)
+val2_buffer = deque([0]*buffer_len, maxlen=buffer_len)
+
+# Setup the plot
+fig, ax = plt.subplots()
+line1, = ax.plot([], [], label='Sensor 0')
+line2, = ax.plot([], [], label='Sensor 1')
+ax.set_ylim(0, 4096)
+ax.set_xlim(0, buffer_len)
+ax.legend()
+
+def update(frame):
+    while ser.in_waiting:
+        line = ser.readline().decode('utf-8').strip()
+        parts = line.split()
+        if len(parts) >= 2:
+            try:
+                val1 = int(parts[0])
+                val2 = int(parts[1])
+                val1_buffer.append(val1)
+                val2_buffer.append(val2)
+            except ValueError:
+                pass  # skip malformed lines
+
+    line1.set_ydata(val1_buffer)
+    line1.set_xdata(range(len(val1_buffer)))
+    line2.set_ydata(val2_buffer)
+    line2.set_xdata(range(len(val2_buffer)))
+    return line1, line2
+
+ani = animation.FuncAnimation(fig, update, interval=50)
+plt.show()