Add intake, turret, and climber plotters
Change-Id: I2de2968219ad258bdce2799eaf7632c914cc3c84
Signed-off-by: Siddhant Kanwar <kanwarsiddhant@gmail.com>
diff --git a/frc971/analysis/BUILD b/frc971/analysis/BUILD
index 686529f..20f1a01 100644
--- a/frc971/analysis/BUILD
+++ b/frc971/analysis/BUILD
@@ -53,6 +53,9 @@
"//y2020/control_loops/superstructure:turret_plotter",
"//y2021_bot3/control_loops/superstructure:superstructure_plotter",
"//y2022/control_loops/superstructure:catapult_plotter",
+ "//y2022/control_loops/superstructure:climber_plotter",
+ "//y2022/control_loops/superstructure:intake_plotter",
+ "//y2022/control_loops/superstructure:turret_plotter",
"//y2022/localizer:localizer_plotter",
],
)
diff --git a/frc971/analysis/plot_index.ts b/frc971/analysis/plot_index.ts
index 332db34..f56a6bf 100644
--- a/frc971/analysis/plot_index.ts
+++ b/frc971/analysis/plot_index.ts
@@ -28,22 +28,28 @@
import {plotDownEstimator} from 'org_frc971/frc971/control_loops/drivetrain/down_estimator_plotter';
import {plotRobotState} from
'org_frc971/frc971/control_loops/drivetrain/robot_state_plotter'
-import {plotFinisher} from
+import {plotFinisher as plot2020Finisher} from
'org_frc971/y2020/control_loops/superstructure/finisher_plotter'
-import {plotTurret} from
+import {plotTurret as plot2020Turret} from
'org_frc971/y2020/control_loops/superstructure/turret_plotter'
import {plotLocalizer as plot2020Localizer} from
'org_frc971/y2020/control_loops/drivetrain/localizer_plotter'
+import {plotAccelerator as plot2020Accelerator} from
+ 'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
+import {plotHood as plot2020Hood} from
+ 'org_frc971/y2020/control_loops/superstructure/hood_plotter'
+import {plotSuperstructure as plot2021Superstructure} from
+ 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
+import {plotTurret as plot2022Turret} from
+ 'org_frc971/y2022/control_loops/superstructure/turret_plotter'
import {plotCatapult as plot2022Catapult} from
'org_frc971/y2022/control_loops/superstructure/catapult_plotter'
+import {plotIntake as plot2022Intake} from
+ 'org_frc971/y2022/control_loops/superstructure/intake_plotter'
+import {plotClimber as plot2022Climber} from
+ 'org_frc971/y2022/control_loops/superstructure/climber_plotter'
import {plotLocalizer as plot2022Localizer} from
'org_frc971/y2022/localizer/localizer_plotter'
-import {plotAccelerator} from
- 'org_frc971/y2020/control_loops/superstructure/accelerator_plotter'
-import {plotHood} from
- 'org_frc971/y2020/control_loops/superstructure/hood_plotter'
-import {plotSuperstructure} from
- 'org_frc971/y2021_bot3/control_loops/superstructure/superstructure_plotter';
import {plotDemo} from 'org_frc971/aos/network/www/demo_plot';
import {plotData} from 'org_frc971/frc971/analysis/plot_data_utils';
@@ -104,15 +110,18 @@
['Spline Debug', new PlotState(plotDiv, plotSpline)],
['Down Estimator', new PlotState(plotDiv, plotDownEstimator)],
['Robot State', new PlotState(plotDiv, plotRobotState)],
- ['Finisher', new PlotState(plotDiv, plotFinisher)],
- ['Accelerator', new PlotState(plotDiv, plotAccelerator)],
- ['Hood', new PlotState(plotDiv, plotHood)],
- ['Turret', new PlotState(plotDiv, plotTurret)],
- ['2022 Localizer', new PlotState(plotDiv, plot2022Localizer)],
+ ['2020 Finisher', new PlotState(plotDiv, plot2020Finisher)],
+ ['2020 Accelerator', new PlotState(plotDiv, plot2020Accelerator)],
+ ['2020 Hood', new PlotState(plotDiv, plot2020Hood)],
+ ['2020 Turret', new PlotState(plotDiv, plot2020Turret)],
['2020 Localizer', new PlotState(plotDiv, plot2020Localizer)],
+ ['2022 Localizer', new PlotState(plotDiv, plot2022Localizer)],
['2022 Catapult', new PlotState(plotDiv, plot2022Catapult)],
+ ['2022 Intake', new PlotState(plotDiv, plot2022Intake)],
+ ['2022 Climber', new PlotState(plotDiv, plot2022Climber)],
+ ['2022 Turret', new PlotState(plotDiv, plot2022Turret)],
['C++ Plotter', new PlotState(plotDiv, plotData)],
- ['Y2021 3rd Robot Superstructure', new PlotState(plotDiv, plotSuperstructure)],
+ ['Y2021 3rd Robot Superstructure', new PlotState(plotDiv, plot2021Superstructure)],
]);
const invalidSelectValue = 'null';
diff --git a/y2020/control_loops/superstructure/finisher_plotter.ts b/y2020/control_loops/superstructure/finisher_plotter.ts
index 474c8a4..f2127f5 100644
--- a/y2020/control_loops/superstructure/finisher_plotter.ts
+++ b/y2020/control_loops/superstructure/finisher_plotter.ts
@@ -39,7 +39,6 @@
ballsShotPlot.plot.setDefaultYRange([0.0, 20.0]);
ballsShotPlot.addMessageLine(status, ['shooter', 'balls_shot']).setColor(BLUE).setPointSize(0.0);
-
const voltagePlot =
aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
voltagePlot.plot.getAxisLabels().setTitle('Voltage');
@@ -51,7 +50,6 @@
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, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
currentPlot.plot.getAxisLabels().setTitle('Current');
diff --git a/y2022/control_loops/superstructure/BUILD b/y2022/control_loops/superstructure/BUILD
index ac91668..57b37f3 100644
--- a/y2022/control_loops/superstructure/BUILD
+++ b/y2022/control_loops/superstructure/BUILD
@@ -177,3 +177,36 @@
"//aos/network/www:proxy",
],
)
+
+ts_library(
+ name = "intake_plotter",
+ srcs = ["intake_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
+
+ts_library(
+ name = "turret_plotter",
+ srcs = ["turret_plotter.ts"],
+ target_compatible_with = ["@platforms//os:linux"],
+ deps = [
+ "//aos/network/www:aos_plotter",
+ "//aos/network/www:colors",
+ "//aos/network/www:proxy",
+ ],
+)
+
+ts_library(
+ name = "climber_plotter",
+ srcs = ["climber_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/climber_plotter.ts b/y2022/control_loops/superstructure/climber_plotter.ts
new file mode 100644
index 0000000..e24a993
--- /dev/null
+++ b/y2022/control_loops/superstructure/climber_plotter.ts
@@ -0,0 +1,46 @@
+// 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 plotClimber(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(status, ['climber', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['climber', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['climber', '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, ['climber_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlot.addMessageLine(status, ['climber', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['climber', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['climber', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+}
diff --git a/y2022/control_loops/superstructure/intake_plotter.ts b/y2022/control_loops/superstructure/intake_plotter.ts
new file mode 100644
index 0000000..8667473
--- /dev/null
+++ b/y2022/control_loops/superstructure/intake_plotter.ts
@@ -0,0 +1,72 @@
+// 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 plotIntake(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 positionPlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotFront.plot.getAxisLabels().setTitle('Position');
+ positionPlotFront.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotFront.plot.getAxisLabels().setYLabel('rad');
+ positionPlotFront.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlotFront.addMessageLine(status, ['intake_front', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlotFront.addMessageLine(status, ['intake_front', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const positionPlotBack =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ positionPlotBack.plot.getAxisLabels().setTitle('Position');
+ positionPlotBack.plot.getAxisLabels().setXLabel(TIME);
+ positionPlotBack.plot.getAxisLabels().setYLabel('rad');
+ positionPlotBack.plot.setDefaultYRange([-1.0, 2.0]);
+
+ positionPlotBack.addMessageLine(status, ['intake_back', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlotBack.addMessageLine(status, ['intake_back', 'estimator_state', 'position']).setColor(CYAN).setPointSize(1.0);
+
+ const voltagePlotFront =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlotFront.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlotFront.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlotFront.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlotFront.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlotFront.addMessageLine(output, ['intake_front_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(status, ['intake_front', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlotFront.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+
+ const voltagePlotBack =
+ aosPlotter.addPlot(element, [DEFAULT_WIDTH, DEFAULT_HEIGHT / 2]);
+ voltagePlotBack.plot.getAxisLabels().setTitle('Voltage');
+ voltagePlotBack.plot.getAxisLabels().setXLabel(TIME);
+ voltagePlotBack.plot.getAxisLabels().setYLabel('Volts');
+ voltagePlotBack.plot.setDefaultYRange([-4.0, 14.0]);
+
+ voltagePlotBack.addMessageLine(output, ['intake_back_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(status, ['intake_back', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlotBack.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+}
diff --git a/y2022/control_loops/superstructure/turret_plotter.ts b/y2022/control_loops/superstructure/turret_plotter.ts
new file mode 100644
index 0000000..10fc10e
--- /dev/null
+++ b/y2022/control_loops/superstructure/turret_plotter.ts
@@ -0,0 +1,46 @@
+// 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 plotTurret(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(status, ['turret', 'position']).setColor(GREEN).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', 'velocity']).setColor(PINK).setPointSize(1.0);
+ positionPlot.addMessageLine(status, ['turret', 'goal_position']).setColor(RED).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', 'goal_velocity']).setColor(ORANGE).setPointSize(4.0);
+ positionPlot.addMessageLine(status, ['turret', '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, ['turret_voltage']).setColor(BLUE).setPointSize(4.0);
+ voltagePlot.addMessageLine(status, ['turret', 'voltage_error']).setColor(RED).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['turret', 'position_power']).setColor(BROWN).setPointSize(1.0);
+ voltagePlot.addMessageLine(status, ['turret', 'velocity_power']).setColor(CYAN).setPointSize(1.0);
+ voltagePlot.addMessageLine(robotState, ['voltage_battery']).setColor(GREEN).setPointSize(1.0);
+
+}