| James Kuszmaul | 440ee25 | 2020-01-03 20:03:52 -0800 | [diff] [blame] | 1 | channel { |
| 2 | name: "/aos" |
| 3 | type: "aos.JoystickState" |
| 4 | alias: "JoystickState" |
| 5 | } |
| 6 | channel { |
| 7 | name: "/aos" |
| 8 | type: "aos.RobotState" |
| 9 | alias: "RobotState" |
| 10 | } |
| 11 | channel { |
| 12 | name: "/drivetrain" |
| 13 | type: "frc971.control_loops.drivetrain.Goal" |
| 14 | alias: "Goal" |
| 15 | } |
| 16 | channel { |
| 17 | name: "/drivetrain" |
| 18 | type: "frc971.control_loops.drivetrain.Status" |
| 19 | alias: "Status" |
| 20 | } |
| 21 | channel { |
| 22 | name: "/drivetrain" |
| 23 | type: "frc971.control_loops.drivetrain.Output" |
| 24 | alias: "Output" |
| 25 | } |
| 26 | channel { |
| 27 | name: "/drivetrain" |
| 28 | type: "frc971.IMUValues" |
| 29 | alias: "IMU" |
| 30 | } |
| 31 | |
| 32 | figure { |
| 33 | axes { |
| 34 | signal { |
| 35 | channel: "JoystickState" |
| 36 | field: "test_mode" |
| 37 | } |
| 38 | signal { |
| 39 | channel: "JoystickState" |
| 40 | field: "autonomous" |
| 41 | } |
| 42 | signal { |
| 43 | channel: "RobotState" |
| 44 | field: "browned_out" |
| 45 | } |
| 46 | signal { |
| 47 | channel: "JoystickState" |
| 48 | field: "enabled" |
| 49 | } |
| 50 | ylabel: "[bool]" |
| 51 | } |
| 52 | axes { |
| 53 | signal { |
| 54 | channel: "RobotState" |
| 55 | field: "voltage_battery" |
| 56 | } |
| 57 | ylabel: "[V]" |
| 58 | } |
| 59 | axes { |
| 60 | signal { |
| 61 | channel: "Status" |
| 62 | field: "line_follow_logging.frozen" |
| 63 | } |
| 64 | signal { |
| 65 | channel: "Goal" |
| 66 | field: "quickturn" |
| 67 | } |
| 68 | ylabel: "[bool]" |
| 69 | } |
| 70 | } |
| 71 | |
| 72 | figure { |
| 73 | axes { |
| 74 | signal { |
| 75 | channel: "Status" |
| 76 | field: "poly_drive_logging.ff_left_voltage" |
| 77 | } |
| 78 | signal { |
| 79 | channel: "Status" |
| 80 | field: "poly_drive_logging.ff_right_voltage" |
| 81 | } |
| 82 | signal { |
| 83 | channel: "Output" |
| 84 | field: "left_voltage" |
| 85 | } |
| 86 | signal { |
| 87 | channel: "Output" |
| 88 | field: "right_voltage" |
| 89 | } |
| 90 | ylabel: "[V]" |
| 91 | } |
| 92 | axes { |
| 93 | signal { |
| 94 | channel: "Status" |
| 95 | field: "theta" |
| 96 | } |
| 97 | ylabel: "[rad]" |
| 98 | } |
| 99 | axes { |
| 100 | signal { |
| 101 | channel: "Status" |
| 102 | field: "robot_speed" |
| 103 | } |
| 104 | signal { |
| 105 | channel: "Status" |
| James Kuszmaul | 9560e90 | 2020-01-11 14:13:08 -0800 | [diff] [blame] | 106 | field: "trajectory_logging.left_velocity" |
| 107 | } |
| 108 | signal { |
| 109 | channel: "Status" |
| James Kuszmaul | 440ee25 | 2020-01-03 20:03:52 -0800 | [diff] [blame] | 110 | field: "poly_drive_logging.goal_left_velocity" |
| 111 | } |
| 112 | signal { |
| 113 | channel: "Status" |
| 114 | field: "estimated_left_velocity" |
| 115 | } |
| 116 | signal { |
| 117 | channel: "Status" |
| James Kuszmaul | 9560e90 | 2020-01-11 14:13:08 -0800 | [diff] [blame] | 118 | field: "trajectory_logging.right_velocity" |
| 119 | } |
| 120 | signal { |
| 121 | channel: "Status" |
| James Kuszmaul | 440ee25 | 2020-01-03 20:03:52 -0800 | [diff] [blame] | 122 | field: "poly_drive_logging.goal_right_velocity" |
| 123 | } |
| 124 | signal { |
| 125 | channel: "Status" |
| 126 | field: "estimated_right_velocity" |
| 127 | } |
| 128 | ylabel: "[m/s]" |
| 129 | } |
| 130 | } |
| 131 | |
| 132 | figure { |
| 133 | axes { |
| 134 | signal { |
| 135 | channel: "IMU" |
| 136 | field: "gyro_x" |
| 137 | } |
| 138 | signal { |
| 139 | channel: "IMU" |
| 140 | field: "gyro_y" |
| 141 | } |
| 142 | signal { |
| 143 | channel: "IMU" |
| 144 | field: "gyro_z" |
| 145 | } |
| 146 | ylabel: "rad / sec" |
| 147 | } |
| 148 | axes { |
| 149 | signal { |
| 150 | channel: "IMU" |
| 151 | field: "accelerometer_x" |
| 152 | } |
| 153 | signal { |
| 154 | channel: "IMU" |
| 155 | field: "accelerometer_y" |
| 156 | } |
| 157 | signal { |
| 158 | channel: "IMU" |
| 159 | field: "accelerometer_z" |
| 160 | } |
| 161 | ylabel: "g" |
| 162 | } |
| 163 | } |