Make scripting docs directly in jupyter and convert them

doc/Makefile

@@ -58,7 +58,7 @@ $(AUTODOCDIR): $(MODULEDIR)
 	# $(AUTODOCBUILD) -f -o $@ $^
 
 doc-requirements: $(AUTODOCDIR)
-	jupyter nbconvert documentation.ipynb --to rst
+	@cd jupyter; sh jupyter2markdown.sh; cd ..
 
 
 html: doc-requirements

doc/jupyter/jupyter2markdown.sh

+#!/usr/bin/env bash
+jupyter nbconvert *.ipynb --to rst --output-dir=..

doc/usage.md

-# Basic Usage
-
-This page assumes a successful [installation](install.html) of NQontrol and all dependencies.
-
-## Hello Servo Example
-
-Here is a minimalistic, `hello world`-like example to show, how to control a servo using the python terminal or a little script.
-
-```python
-# Importing a ServoDevice is enough
-from nqontrol import ServoDevice
-
-# Create a new servo device object, connecting to adwin with the device number 1.
-sd = ServoDevice(1)
-
-# Print the timestamp
-print(sd.timeStamp)
-
-# Create the first servo on channel 1 from 8.
-sd.addServo(1)
-
-# Get the new servo object to control it.
-s = sd.servo(1)
-
-# enable in and output
-s.inputSw = True
-s.outputSw = True
-```
-
-Using a signal generator for the input you will now get the same signal on the output.
-(That is true for signals below about 15 kHz.)
-
-## Apply a ServoDesign
-
-To use a servo for a real control loop we want to have some filters.
-The full documentation is in the [OpenQlab docs](https://las-nq-serv.physnet.uni-hamburg.de/python/openqlab/servodesign.html).
-
-Input:
-```python
-from OpenQlab.analysis import ServoDesign
-
-# Create a ServoDesign object
-design = ServoDesign()
-
-# Add an integrator and a lowpass
-design.integrator(1e2)
-design.lowpass(5e3)
-
-# Plot how it looks analytically
-import matplotlib.pyplot as plt
-design.plot()
-plt.show()
-```
-Output:
-![transfer function](_static/servoDesign_transfer_function.png)
-
-Input:
-```python
-# Apply it to our servo
-s.applyServoDesign(design)
-
-# Control, what happens with the servo
-print(s.filters)
-```
-Output:
-```bash
-[[1.00313, -0.999993, 0.0, -0.99373, 0.0],
- [0.01975, -1.56097, 0.64130, 2.0, 1.0],
- [1.0, 0, 0, 0, 0],
- [1.0, 0, 0, 0, 0],
- [1.0, 0, 0, 0, 0]]
-```
-Input:
-```python
-print(s.filterStates)
-print(s.gain)
-```
-Output:
-```bash
-[True, True, False, False, False]
-1.0
-```
-
-## Control Filters
-```python
-# Disable all filters
-s.filterStates = [False] * 5
-
-# Enable the second (index = 1) filter
-s.filterState(1, True)
-```
-
-## Enable a Ramp
-```python
-# Choose a slow ramp with a frequency of 1 Hz.
-# Amplitude = 4
-s.setRamp(1, 4)
-```
-
-## Start Realtime Plotting
-```python
-# Start plotting in a background process
-s.realtimePlot()
-
-# disable plotting the output
-s.realtime['ydata'] = ['input', 'aux']
-
-# set constant y limit from -3 to 5 
-s.realtime['ylim'] = (-3, 5)
-
-# stop realtime plotting
-s.stopRealtimePlot()
-```