Add plotters for the accelerator and finisher
These are what we used to tune them.
Change-Id: Ib492b717e38043a73c2d98e93c885d82df1513b6
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
new file mode 100644
index 0000000..8948ac8
--- /dev/null
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -0,0 +1,66 @@
+// 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 Connection = proxy.Connection;
+
+const TIME = AosPlotter.TIME;
+const DEFAULT_WIDTH = AosPlotter.DEFAULT_WIDTH;
+const DEFAULT_HEIGHT = AosPlotter.DEFAULT_HEIGHT * 3;
+const RED = AosPlotter.RED;
+const GREEN = AosPlotter.GREEN;
+const BLUE = AosPlotter.BLUE;
+const BROWN = AosPlotter.BROWN;
+const PINK = AosPlotter.PINK;
+const CYAN = AosPlotter.CYAN;
+const WHITE = AosPlotter.WHITE;
+
+export function plotFinisher(conn: Connection, element: Element) : void {
+ const aosPlotter = new AosPlotter(conn);
+ const goal = aosPlotter.addMessageSource('/superstructure', 'y2020.control_loops.superstructure.Goal');
+ const output = aosPlotter.addMessageSource('/superstructure', 'y2020.control_loops.superstructure.Output');
+ const status = aosPlotter.addMessageSource('/superstructure', 'y2020.control_loops.superstructure.Status');
+ const pdpValues = aosPlotter.addMessageSource('/roborio/aos', 'frc971.PDPValues');
+ const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+
+ var currentTop = 0;
+
+ // Robot Enabled/Disabled and Mode
+ const velocityPlot =
+ aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ currentTop += DEFAULT_HEIGHT / 2;
+ velocityPlot.plot.getAxisLabels().setTitle('Velocity');
+ velocityPlot.plot.getAxisLabels().setXLabel(TIME);
+ velocityPlot.plot.getAxisLabels().setYLabel('rad/s');
+ velocityPlot.plot.setDefaultYRange([0.0, 450.0]);
+
+ velocityPlot.addMessageLine(goal, ['shooter', 'velocity_finisher']).setColor(BLUE).setPointSize(0.0);
+ velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'avg_angular_velocity']).setColor(RED).setPointSize(0.0);
+ velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'angular_velocity']).setColor(GREEN).setPointSize(0.0);
+ velocityPlot.addMessageLine(status, ['shooter', 'finisher', 'dt_angular_velocity']).setColor(PINK).setPointSize(0.0);
+
+ const voltagePlot =
+ aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ currentTop += DEFAULT_HEIGHT / 2;
+ voltagePlot.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlot.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlot.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlot.plot.setDefaultYRange([-4.0, 16.0]);
+
+ voltagePlot.addMessageLine(output, ['finisher_voltage']).setColor(BLUE).setPointSize(0.0);
+ voltagePlot.addMessageLine(status, ['shooter', 'finisher', 'voltage_error']).setColor(RED).setPointSize(0.0);
+ voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(0.0);
+
+
+ const currentPlot =
+ aosPlotter.addPlot(element, [0, currentTop], [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ currentTop += DEFAULT_HEIGHT / 2;
+ currentPlot.plot.getAxisLabels().setTitle('Current');
+ currentPlot.plot.getAxisLabels().setXLabel(TIME);
+ currentPlot.plot.getAxisLabels().setYLabel('Amps');
+ currentPlot.plot.setDefaultYRange([0.0, 80.0]);
+
+ currentPlot.addMessageLine(pdpValues, ['currents[12]']).setColor(GREEN).setPointSize(0.0);
+ currentPlot.addMessageLine(pdpValues, ['currents[13]']).setColor(BLUE).setPointSize(0.0);
+ currentPlot.addMessageLine(status, ['shooter', 'finisher', 'commanded_current']).setColor(RED).setPointSize(0.0);
+}