# %%

import numpy as np
import scipy as sc
import scipy.signal
import matplotlib.pyplot as plt

# %% Genreate a chirp trajectory

t = np.linspace(0, 60, 60*200)  # trajectory time space seconds
f0 = 0.01  # starting frequency in Hz
t1 = 60  # ending time in seconds
f1 = 5  # ending frequency in Hz

Amp = 0.5  # desired maximum amplitude of movementd (mm) or velocity (mm/s)
Chirp_sig = Amp*sc.signal.chirp(t, f0, t1, f1, method='linear', phi=-90)

print(np.shape(Chirp_sig))
print(Chirp_sig)

# %%
plt.plot(t, Chirp_sig)
plt.ylabel('Chipr Signal Amplitude')
plt.show()