Add typescript plot for catapult
Change-Id: I85edabb05fa6bc2f770724e170cda467095e37d0
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index 9bae7c7..644b53b 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -1,4 +1,4 @@
-load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library")
+load("@com_github_google_flatbuffers//:build_defs.bzl", "flatbuffer_cc_library", "flatbuffer_ts_library")
load("@npm//@bazel/typescript:index.bzl", "ts_library")
package(default_visibility = ["//visibility:public"])
@@ -35,6 +35,18 @@
],
)
+flatbuffer_ts_library(
+ name = "superstructure_status_ts_fbs",
+ srcs = [
+ "superstructure_status.fbs",
+ ],
+ includes = [
+ "//frc971/control_loops:control_loops_fbs_includes",
+ "//frc971/control_loops:profiled_subsystem_fbs_includes",
+ ],
+ target_compatible_with = ["@platforms//os:linux"],
+)
+
flatbuffer_cc_library(
name = "superstructure_position_fbs",
srcs = [
@@ -115,3 +127,14 @@
"//aos/network/www:proxy",
],
)
+
+ts_library(
+ name = "catapult_plotter",
+ srcs = ["catapult_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
diff --git a/y2022/control_loops/superstructure/catapult_plotter.ts b/y2022/control_loops/superstructure/catapult_plotter.ts
new file mode 100644
index 0000000..cfa360d
--- /dev/null
+++ b/y2022/control_loops/superstructure/catapult_plotter.ts
@@ -0,0 +1,57 @@
+// Provides a plot for debugging robot state-related issues.
+import {AosPlotter} from 'org_frc971/aos/network/www/aos_plotter';
+import * as proxy from 'org_frc971/aos/network/www/proxy';
+import {BLUE, BROWN, CYAN, GREEN, PINK, RED, WHITE, ORANGE} from 'org_frc971/aos/network/www/colors';
+
+import Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH * 5 / 2;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+
+export function plotCatapult(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 positionPlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlot.plot.getAxisLabels().setTitle('Position');
+ positionPlot.plot.getAxisLabels().setXLabel(TIME);
+ positionPlot.plot.getAxisLabels().setYLabel('rad');
+ positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlot.addMessageLine(goal, ['catapult', 'return_position', 'unsafe_goal']).setColor(BLUE).setPointSize(1.0);
+ positionPlot.addMessageLine(goal, ['catapult', 'fire']).setColor(WHITE).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['mpc_active']).setColor(WHITE).setPointSize(3.0);
+ positionPlot.addMessageLine(status, ['catapult', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['catapult', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['catapult', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['catapult', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['catapult', 'calculated_velocity']).setColor(BROWN).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['catapult', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const voltagePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlot.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlot.addMessageLine(output, ['catapult_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlot.addMessageLine(status, ['catapult', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['catapult', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['catapult', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+ const solvePlot =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ solvePlot.plot.getAxisLabels().setTitle('Solve Time');
+ solvePlot.plot.getAxisLabels().setXLabel(TIME);
+ solvePlot.plot.getAxisLabels().setYLabel('Seconds');
+ solvePlot.plot.setDefaultYRange([-0.0005, 0.001]);
+ solvePlot.addMessageLine(status, ['solve_time']).setColor(WHITE).setPointSize(4.0);
+}