diff --git a/pslab/external/motor.py b/pslab/external/motor.py
index f6caee1..1fba065 100644
--- a/pslab/external/motor.py
+++ b/pslab/external/motor.py
@@ -10,8 +10,11 @@
import time
from typing import List
from typing import Union
+import csv
+import os
from pslab.instrument.waveform_generator import PWMGenerator
+from datetime import datetime
MICROSECONDS = 1e6
@@ -96,7 +99,7 @@ def run_schedule(self, timeline: List[List[int]], time_step: float = 1.0) -> Non
with angles corresponding to each servo.
time_step : float, optional
- Delay in seconds between each timestep. Default is 1.0.
+ Delay in seconds between each timestep. Default is 1.0.
"""
if len(timeline[0]) != len(self.servos):
raise ValueError("Each timestep must specify an angle for every servo")
@@ -107,5 +110,60 @@ def run_schedule(self, timeline: List[List[int]], time_step: float = 1.0) -> Non
for tl in timeline:
for i, s in enumerate(self.servos):
- s.angle = tl[i]
+ if tl[i] is not None:
+ s.angle = tl[i]
time.sleep(time_step)
+
+ def import_timeline_from_csv(self, filepath: str) -> List[List[int]]:
+ """Import timeline from a CSV file.
+
+ Parameters
+ ----------
+ filepath : str
+ Absolute or relative path to the CSV file to be read.
+
+ Returns
+ -------
+ List[List[int]]
+ A timeline consisting of servo angle values per timestep.
+ """
+ timeline = []
+
+ with open(filepath, mode="r", newline="") as csvfile:
+ reader = csv.DictReader(csvfile)
+ for row in reader:
+ angles = []
+ for key in ["Servo1", "Servo2", "Servo3", "Servo4"]:
+ value = row[key]
+ if value == "null":
+ angles.append(None)
+ else:
+ angles.append(int(value))
+ timeline.append(angles)
+
+ return timeline
+
+ def export_timeline_to_csv(
+ self, timeline: List[List[Union[int, None]]], folderpath: str
+ ) -> None:
+ """Export timeline to a CSV file.
+
+ Parameters
+ ----------
+ timeline : List[List[Union[int, None]]]
+ A list of timesteps where each sublist contains servo angles.
+
+ folderpath : str
+ Directory path where the CSV file will be saved. The filename
+ will include a timestamp to ensure uniqueness.
+ """
+ timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
+ filename = f"Robotic_Arm{timestamp}.csv"
+ filepath = os.path.join(folderpath, filename)
+
+ with open(filepath, mode="w", newline="") as csvfile:
+ writer = csv.writer(csvfile)
+ writer.writerow(["Timestep", "Servo1", "Servo2", "Servo3", "Servo4"])
+ for i, row in enumerate(timeline):
+ pos = ["null" if val is None else val for val in row]
+ writer.writerow([i] + pos)
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