commit 2f72b2cffe64482fa920a2843efefed9950035c7
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 17 17:14:48 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 17 17:27:19 2024 -0700
tree 0b2c16db39bdd0859d2da9008ad40c11fe5194c9
parent a954799ab2b5bd16b8c4ad534771ea4c805f0e32

Add RioLocalizerInputs to localizer_plotter

Change-Id: I7f96ce25c602892b1966b0265fc915e761c8c327
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/localizer/localizer_plotter.ts

diff --git a/y2024/localizer/localizer_plotter.ts b/y2024/localizer/localizer_plotter.ts
index b5e764b..4e64a68 100644
--- a/y2024/localizer/localizer_plotter.ts
+++ b/y2024/localizer/localizer_plotter.ts
@@ -21,6 +21,8 @@
       '/drivetrain', 'frc971.control_loops.drivetrain.Output');
   const localizer = aosPlotter.addMessageSource(
       '/localizer', 'y2024.localizer.Status');
+  const rio_inputs = aosPlotter.addMessageSource(
+      '/drivetrain', 'frc971.control_loops.drivetrain.RioLocalizerInputs');
   const imu = aosPlotter.addRawMessageSource(
       '/localizer', 'frc971.IMUValuesBatch',
       new ImuMessageHandler(conn.getSchema('frc971.IMUValuesBatch')));
@@ -43,6 +45,12 @@
   positionPlot.addMessageLine(position, ['right_encoder'])
       .setColor(CYAN)
       .setDrawLine(false);
+  positionPlot.addMessageLine(rio_inputs, ['left_encoder'])
+      .setColor(BROWN)
+      .setDrawLine(false);
+  positionPlot.addMessageLine(rio_inputs, ['right_encoder'])
+      .setColor(CYAN)
+      .setDrawLine(false);
 
 
   // Drivetrain Velocities
@@ -98,6 +106,12 @@
   voltagePlot.addMessageLine(output, ['right_voltage'])
       .setColor(GREEN)
       .setPointSize(0);
+  voltagePlot.addMessageLine(rio_inputs, ['left_voltage'])
+      .setColor(RED)
+      .setDrawLine(false);
+  voltagePlot.addMessageLine(rio_inputs, ['right_voltage'])
+      .setColor(GREEN)
+      .setDrawLine(false);
 
   // Heading
   const yawPlot = aosPlotter.addPlot(element);