Merge "Clean up some styling in scouting app."
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index f56a6bf..bbaa0ce 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -44,7 +44,7 @@
'org_frc971/y2022/control_loops/superstructure/turret_plotter'
import {plotCatapult as plot2022Catapult} from
'org_frc971/y2022/control_loops/superstructure/catapult_plotter'
-import {plotIntake as plot2022Intake} from
+import {plotIntakeFront as plot2022IntakeFront, plotIntakeBack as plot2022IntakeBack} from
'org_frc971/y2022/control_loops/superstructure/intake_plotter'
import {plotClimber as plot2022Climber} from
'org_frc971/y2022/control_loops/superstructure/climber_plotter'
@@ -117,7 +117,8 @@
['2020 Localizer', new PlotState(plotDiv, plot2020Localizer)],
['2022 Localizer', new PlotState(plotDiv, plot2022Localizer)],
['2022 Catapult', new PlotState(plotDiv, plot2022Catapult)],
- ['2022 Intake', new PlotState(plotDiv, plot2022Intake)],
+ ['2022 Intake Front', new PlotState(plotDiv, plot2022IntakeFront)],
+ ['2022 Intake Back', new PlotState(plotDiv, plot2022IntakeBack)],
['2022 Climber', new PlotState(plotDiv, plot2022Climber)],
['2022 Turret', new PlotState(plotDiv, plot2022Turret)],
['C++ Plotter', new PlotState(plotDiv, plotData)],
diff --git a/y2022/constants.h b/y2022/constants.h
index b1565e6..5b8fe64 100644
--- a/y2022/constants.h
+++ b/y2022/constants.h
@@ -131,10 +131,10 @@
// TODO (Yash): Constants need to be tuned
static constexpr ::frc971::constants::Range kTurretRange() {
return ::frc971::constants::Range{
- .lower_hard = -0.1, // Back Hard
- .upper_hard = 4.71, // Front Hard
- .lower = 0.0, // Back Soft
- .upper = 3.3 // Front Soft
+ .lower_hard = -6.0, // Back Hard
+ .upper_hard = 4.0, // Front Hard
+ .lower = -5.0, // Back Soft
+ .upper = 3.7 // Front Soft
};
}
diff --git a/y2022/control_loops/superstructure/intake_plotter.ts b/y2022/control_loops/superstructure/intake_plotter.ts
index 592d85f..8904d8b 100644
--- a/y2022/control_loops/superstructure/intake_plotter.ts
+++ b/y2022/control_loops/superstructure/intake_plotter.ts
@@ -9,7 +9,7 @@
const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
-export function plotIntake(conn: Connection, element: Element) : void {
+export function plotIntakeFront(conn: Connection, element: Element) : void {
const aosPlotter = new AosPlotter(conn);
const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
@@ -30,19 +30,6 @@
positionPlotFront.addMessageLine(status, ['intake_front', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
positionPlotFront.addMessageLine(status, ['intake_front', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
- const positionPlotBack =
- aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
- positionPlotBack.plot.getAxisLabels().setTitle('Position');
- positionPlotBack.plot.getAxisLabels().setXLabel(TIME);
- positionPlotBack.plot.getAxisLabels().setYLabel('rad');
- positionPlotBack.plot.setDefaultYRange([-1.0, 2.0]);
-
- positionPlotBack.addMessageLine(status, ['intake_back', 'position']).setColor(GREEN).setPointSize(4.0);
- positionPlotBack.addMessageLine(status, ['intake_back', 'velocity']).setColor(PINK).setPointSize(1.0);
- positionPlotBack.addMessageLine(status, ['intake_back', 'goal_position']).setColor(RED).setPointSize(4.0);
- positionPlotBack.addMessageLine(status, ['intake_back', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
- positionPlotBack.addMessageLine(status, ['intake_back', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
-
const voltagePlotFront =
aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
voltagePlotFront.plot.getAxisLabels().setTitle('Voltage');
@@ -55,6 +42,35 @@
voltagePlotFront.addMessageLine(status, ['intake_front', 'position_power']).setColor(BROWN).setPointSize(1.0);
voltagePlotFront.addMessageLine(status, ['intake_front', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
voltagePlotFront.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+}
+
+export function plotIntakeBack(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2022.control_loops.superstructure.Status');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ // Robot Enabled/Disabled and Mode
+ const positionPlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotFront.plot.getAxisLabels().setTitle('Position');
+ positionPlotFront.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotFront.plot.getAxisLabels().setYLabel('rad');
+ positionPlotFront.plot.setDefaultYRange([-1.0, 2.0]);
+
+ const positionPlotBack =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotBack.plot.getAxisLabels().setTitle('Position');
+ positionPlotBack.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotBack.plot.getAxisLabels().setYLabel('rad');
+ positionPlotBack.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlotBack.addMessageLine(status, ['intake_back', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
const voltagePlotBack =
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index aa5eee8..affc25b 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -349,24 +349,29 @@
const flatbuffers::Offset<RelativeEncoderProfiledJointStatus>
climber_status_offset = climber_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->climber() : nullptr,
- position->climber(), &output_struct.climber_voltage, status->fbb());
+ position->climber(),
+ output != nullptr ? &output_struct.climber_voltage : nullptr,
+ status->fbb());
const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
intake_status_offset_front = intake_front_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->intake_front() : nullptr,
- position->intake_front(), &output_struct.intake_voltage_front,
+ position->intake_front(),
+ output != nullptr ? &output_struct.intake_voltage_front : nullptr,
status->fbb());
const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
intake_status_offset_back = intake_back_.Iterate(
unsafe_goal != nullptr ? unsafe_goal->intake_back() : nullptr,
- position->intake_back(), &output_struct.intake_voltage_back,
+ position->intake_back(),
+ output != nullptr ? &output_struct.intake_voltage_back : nullptr,
status->fbb());
const flatbuffers::Offset<PotAndAbsoluteEncoderProfiledJointStatus>
- turret_status_offset =
- turret_.Iterate(turret_goal, position->turret(),
- &output_struct.turret_voltage, status->fbb());
+ turret_status_offset = turret_.Iterate(
+ turret_goal, position->turret(),
+ output != nullptr ? &output_struct.turret_voltage : nullptr,
+ status->fbb());
if (output != nullptr) {
output_struct.roller_voltage_front = roller_speed_compensated_front;