commit 81e7184e23379860310e89f13aeab99a6ec82684
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Sep 29 15:25:13 2023 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Oct 04 19:30:57 2023 -0700
tree d19a3d4e012af33b62ae8f136ab4b83794cbe059
parent 2334f57ec426923d163d7de1badf48b8d5c7b93e

Make y2023 superstructure plotter semi-functional

This at least lets us debug zeroing issues.

Change-Id: I734d67e4e37a783925a93f3c7fc41358652d570a
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2023/control_loops/superstructure/superstructure_plotter.ts

diff --git a/y2023/control_loops/superstructure/superstructure_plotter.ts b/y2023/control_loops/superstructure/superstructure_plotter.ts
index 2e32445..c7d14fd 100644
--- a/y2023/control_loops/superstructure/superstructure_plotter.ts
+++ b/y2023/control_loops/superstructure/superstructure_plotter.ts
@@ -11,15 +11,15 @@
 
 export function plotSuperstructure(conn: Connection, element: Element): void {
   const aosPlotter = new AosPlotter(conn);
-  const goal = aosPlotter.addMessageSource(
-      '/superstructure', 'y2023.control_loops.superstructure.Goal');
-  const output = aosPlotter.addMessageSource(
-      '/superstructure', 'y2023.control_loops.superstructure.Output');
-  const status = aosPlotter.addMessageSource(
-      '/superstructure', 'y2023.control_loops.superstructure.Status');
+  //const goal = aosPlotter.addMessageSource(
+  //    '/superstructure', 'y2023.control_loops.superstructure.Goal');
+  //const output = aosPlotter.addMessageSource(
+  //    '/superstructure', 'y2023.control_loops.superstructure.Output');
+  //const status = aosPlotter.addMessageSource(
+  //    '/superstructure', 'y2023.control_loops.superstructure.Status');
   const position = aosPlotter.addMessageSource(
       '/superstructure', 'y2023.control_loops.superstructure.Position');
-  const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
+  //const robotState = aosPlotter.addMessageSource('/aos', 'aos.RobotState');
 
   const positionPlot =
       aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
@@ -28,88 +28,13 @@
   positionPlot.plot.getAxisLabels().setYLabel('wonky state units');
   positionPlot.plot.setDefaultYRange([-1.0, 2.0]);
 
-  positionPlot.addMessageLine(position, ['turret_beambreak'])
+  positionPlot.addMessageLine(position, ['arm', 'distal', 'pot'])
       .setColor(RED)
       .setPointSize(4.0);
-  positionPlot.addMessageLine(status, ['state'])
-      .setColor(PINK)
-      .setPointSize(4.0);
-  positionPlot.addMessageLine(status, ['flippers_open'])
-      .setColor(WHITE)
-      .setPointSize(1.0);
-  positionPlot.addMessageLine(status, ['reseating_in_catapult'])
-      .setColor(BLUE)
-      .setPointSize(1.0);
-  positionPlot.addMessageLine(status, ['fire'])
-      .setColor(BROWN)
-      .setPointSize(1.0);
-  positionPlot.addMessageLine(status, ['ready_to_fire'])
-      .setColor(GREEN)
-      .setPointSize(1.0);
-  positionPlot.addMessageLine(status, ['collided'])
-      .setColor(PINK)
-      .setPointSize(1.0);
-
-  const goalPlot =
-      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
-  goalPlot.plot.getAxisLabels().setTitle('Goal');
-  goalPlot.plot.getAxisLabels().setXLabel(TIME);
-  goalPlot.plot.getAxisLabels().setYLabel('value');
-  goalPlot.plot.setDefaultYRange([-1.0, 2.0]);
-  goalPlot.addMessageLine(goal, ['fire']).setColor(RED).setPointSize(1.0);
-  goalPlot.addMessageLine(goal, ['auto_aim']).setColor(BLUE).setPointSize(1.0);
-
-
-  const shotCountPlot =
-      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
-  shotCountPlot.plot.getAxisLabels().setTitle('Shot Count');
-  shotCountPlot.plot.getAxisLabels().setXLabel(TIME);
-  shotCountPlot.plot.getAxisLabels().setYLabel('balls');
-  shotCountPlot.plot.setDefaultYRange([-1.0, 2.0]);
-  shotCountPlot.addMessageLine(status, ['shot_count'])
-      .setColor(RED)
-      .setPointSize(1.0);
-
-  const intakePlot =
-      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
-  intakePlot.plot.getAxisLabels().setTitle('Intake');
-  intakePlot.plot.getAxisLabels().setXLabel(TIME);
-  intakePlot.plot.getAxisLabels().setYLabel('wonky state units');
-  intakePlot.plot.setDefaultYRange([-1.0, 2.0]);
-  intakePlot.addMessageLine(status, ['intake_state'])
-      .setColor(RED)
-      .setPointSize(1.0);
-  intakePlot.addMessageLine(position, ['intake_beambreak_front'])
-      .setColor(GREEN)
-      .setPointSize(4.0);
-  intakePlot.addMessageLine(position, ['intake_beambreak_back'])
-      .setColor(PINK)
-      .setPointSize(1.0);
-  intakePlot.addMessageLine(output, ['transfer_roller_voltage'])
-      .setColor(BROWN)
-      .setPointSize(3.0);
-
-
-  const otherPlot =
-      aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
-  otherPlot.plot.getAxisLabels().setTitle('Position');
-  otherPlot.plot.getAxisLabels().setXLabel(TIME);
-  otherPlot.plot.getAxisLabels().setYLabel('rad');
-  otherPlot.plot.setDefaultYRange([-1.0, 2.0]);
-
-  otherPlot.addMessageLine(status, ['catapult', 'position'])
-      .setColor(PINK)
-      .setPointSize(4.0);
-  otherPlot.addMessageLine(status, ['turret', 'position'])
-      .setColor(WHITE)
-      .setPointSize(4.0);
-  otherPlot.addMessageLine(position, ['flipper_arm_left', 'encoder'])
+  positionPlot.addMessageLine(position, ['arm', 'distal', 'absolute_encoder'])
       .setColor(BLUE)
       .setPointSize(4.0);
-  otherPlot.addMessageLine(position, ['flipper_arm_right', 'encoder'])
-      .setColor(CYAN)
-      .setPointSize(4.0);
-  otherPlot.addMessageLine(output, ['flipper_arms_voltage'])
-      .setColor(BROWN)
+  positionPlot.addMessageLine(position, ['arm', 'distal', 'encoder'])
+      .setColor(GREEN)
       .setPointSize(4.0);
 }