Add y2024 folder
2023 bot specific code was removed.
Signed-off-by: Nathan Leong <100028864@mvla.net>
Change-Id: I88fc4a4b5e6bc883ea327cc306efa4e20035908b
diff --git a/y2024/control_loops/superstructure/superstructure_plotter.ts b/y2024/control_loops/superstructure/superstructure_plotter.ts
new file mode 100644
index 0000000..3498f77
--- /dev/null
+++ b/y2024/control_loops/superstructure/superstructure_plotter.ts
@@ -0,0 +1,30 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from '../../../aos/network/www/aos_plotter';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE} from '../../../aos/network/www/colors';
+import * as proxy from '../../../aos/network/www/proxy';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotSuperstructure(conn: Connection, element: Element): void {
+ const aosPlotter = new AosPlotter(conn);
+ //const goal = aosPlotter.addMessageSource(
+ // '/superstructure', 'y2024.control_loops.superstructure.Goal');
+ //const output = aosPlotter.addMessageSource(
+ // '/superstructure', 'y2024.control_loops.superstructure.Output');
+ //const status = aosPlotter.addMessageSource(
+ // '/superstructure', 'y2024.control_loops.superstructure.Status');
+ const position = aosPlotter.addMessageSource(
+ '/superstructure', 'y2024.control_loops.superstructure.Position');
+ //const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ const positionPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlot.plot.getAxisLabels().setTitle('States');
+ positionPlot.plot.getAxisLabels().setXLabel(TIME);
+ positionPlot.plot.getAxisLabels().setYLabel('wonky state units');
+ positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+}