| James Kuszmaul | 9031d1b | 2020-02-11 17:01:57 -0800 | [diff] [blame] | 1 | channel { |
| 2 | name: "/drivetrain" |
| 3 | type: "frc971.control_loops.drivetrain.Status" |
| 4 | alias: "DrivetrainStatus" |
| 5 | } |
| 6 | channel { |
| 7 | name: "/drivetrain/truth" |
| 8 | type: "frc971.control_loops.drivetrain.Status" |
| 9 | alias: "DrivetrainTruthStatus" |
| 10 | } |
| 11 | channel { |
| 12 | name: "/drivetrain" |
| 13 | type: "frc971.control_loops.drivetrain.Position" |
| 14 | alias: "DrivetrainPosition" |
| 15 | } |
| 16 | channel { |
| 17 | name: "/drivetrain" |
| 18 | type: "frc971.control_loops.drivetrain.Output" |
| 19 | alias: "DrivetrainOutput" |
| 20 | } |
| 21 | |
| 22 | figure { |
| 23 | axes { |
| 24 | line { |
| 25 | y_signal { |
| 26 | channel: "DrivetrainTruthStatus" |
| 27 | field: "y" |
| 28 | } |
| 29 | x_signal { |
| 30 | channel: "DrivetrainTruthStatus" |
| 31 | field: "x" |
| 32 | } |
| 33 | } |
| 34 | share_x_axis: false |
| 35 | line { |
| 36 | y_signal { |
| 37 | channel: "DrivetrainStatus" |
| 38 | field: "y" |
| 39 | } |
| 40 | x_signal { |
| 41 | channel: "DrivetrainStatus" |
| 42 | field: "x" |
| 43 | } |
| 44 | } |
| 45 | share_x_axis: false |
| 46 | xlabel: "x (m)" |
| 47 | ylabel: "y (m)" |
| 48 | } |
| 49 | } |
| 50 | |
| 51 | figure { |
| 52 | axes { |
| 53 | line { |
| 54 | y_signal { |
| 55 | channel: "DrivetrainStatus" |
| 56 | field: "down_estimator.yaw" |
| 57 | } |
| 58 | } |
| 59 | line { |
| 60 | y_signal { |
| 61 | channel: "DrivetrainTruthStatus" |
| 62 | field: "theta" |
| 63 | } |
| 64 | } |
| 65 | line { |
| 66 | y_signal { |
| 67 | channel: "DrivetrainStatus" |
| 68 | field: "localizer.theta" |
| 69 | } |
| 70 | } |
| 71 | line { |
| 72 | y_signal { |
| 73 | channel: "DrivetrainStatus" |
| 74 | field: "down_estimator.lateral_pitch" |
| 75 | } |
| 76 | } |
| 77 | line { |
| 78 | y_signal { |
| 79 | channel: "DrivetrainStatus" |
| 80 | field: "down_estimator.longitudinal_pitch" |
| 81 | } |
| 82 | } |
| 83 | ylabel: "rad" |
| 84 | } |
| 85 | axes { |
| 86 | line { |
| 87 | y_signal { |
| 88 | channel: "DrivetrainStatus" |
| 89 | field: "down_estimator.position_x" |
| 90 | } |
| 91 | } |
| 92 | line { |
| 93 | y_signal { |
| 94 | channel: "DrivetrainStatus" |
| 95 | field: "down_estimator.position_y" |
| 96 | } |
| 97 | } |
| 98 | line { |
| 99 | y_signal { |
| 100 | channel: "DrivetrainTruthStatus" |
| 101 | field: "x" |
| 102 | } |
| 103 | } |
| 104 | line { |
| 105 | y_signal { |
| 106 | channel: "DrivetrainTruthStatus" |
| 107 | field: "y" |
| 108 | } |
| 109 | } |
| 110 | line { |
| 111 | y_signal { |
| 112 | channel: "DrivetrainStatus" |
| 113 | field: "localizer.x" |
| 114 | } |
| 115 | } |
| 116 | line { |
| 117 | y_signal { |
| 118 | channel: "DrivetrainStatus" |
| 119 | field: "localizer.y" |
| 120 | } |
| 121 | } |
| 122 | ylabel: "m" |
| 123 | } |
| 124 | axes { |
| 125 | line { |
| 126 | y_signal { |
| 127 | channel: "DrivetrainStatus" |
| 128 | field: "down_estimator.velocity_x" |
| 129 | } |
| 130 | } |
| 131 | line { |
| 132 | y_signal { |
| 133 | channel: "DrivetrainStatus" |
| 134 | field: "down_estimator.velocity_y" |
| 135 | } |
| 136 | } |
| 137 | line { |
| 138 | y_signal { |
| 139 | channel: "DrivetrainStatus" |
| 140 | field: "localizer.longitudinal_velocity_offset" |
| 141 | } |
| 142 | } |
| 143 | line { |
| 144 | y_signal { |
| 145 | channel: "DrivetrainStatus" |
| 146 | field: "localizer.lateral_velocity" |
| 147 | } |
| 148 | } |
| 149 | ylabel: "m/s" |
| 150 | } |
| 151 | axes { |
| 152 | line { |
| 153 | y_signal { |
| 154 | channel: "DrivetrainStatus" |
| 155 | field: "down_estimator.accel_x" |
| 156 | } |
| 157 | } |
| 158 | line { |
| 159 | y_signal { |
| 160 | channel: "DrivetrainStatus" |
| 161 | field: "down_estimator.accel_y" |
| 162 | } |
| 163 | } |
| 164 | line { |
| 165 | y_signal { |
| 166 | channel: "DrivetrainStatus" |
| 167 | field: "down_estimator.accel_z" |
| 168 | } |
| 169 | } |
| 170 | ylabel: "m/s/s" |
| 171 | } |
| 172 | } |
| 173 | |
| 174 | figure { |
| 175 | axes { |
| 176 | line { |
| 177 | y_signal { |
| 178 | channel: "DrivetrainStatus" |
| 179 | field: "localizer.left_velocity" |
| 180 | } |
| 181 | } |
| 182 | line { |
| 183 | y_signal { |
| 184 | channel: "DrivetrainStatus" |
| 185 | field: "localizer.right_velocity" |
| 186 | } |
| 187 | } |
| 188 | ylabel: "m/s" |
| 189 | } |
| 190 | axes { |
| 191 | line { |
| 192 | y_signal { |
| 193 | channel: "DrivetrainPosition" |
| 194 | field: "left_encoder" |
| 195 | } |
| 196 | } |
| 197 | line { |
| 198 | y_signal { |
| 199 | channel: "DrivetrainPosition" |
| 200 | field: "right_encoder" |
| 201 | } |
| 202 | } |
| 203 | line { |
| 204 | y_signal { |
| 205 | channel: "DrivetrainStatus" |
| 206 | field: "localizer.left_encoder" |
| 207 | } |
| 208 | } |
| 209 | line { |
| 210 | y_signal { |
| 211 | channel: "DrivetrainStatus" |
| 212 | field: "localizer.right_encoder" |
| 213 | } |
| 214 | } |
| 215 | ylabel: "m" |
| 216 | } |
| 217 | axes { |
| 218 | line { |
| 219 | y_signal { |
| 220 | channel: "DrivetrainStatus" |
| 221 | field: "localizer.angular_error" |
| 222 | } |
| 223 | } |
| 224 | ylabel: "rad / sec" |
| 225 | } |
| 226 | } |
| 227 | |
| 228 | figure { |
| 229 | axes { |
| 230 | line { |
| 231 | y_signal { |
| 232 | channel: "DrivetrainOutput" |
| 233 | field: "left_voltage" |
| 234 | } |
| 235 | } |
| 236 | line { |
| 237 | y_signal { |
| 238 | channel: "DrivetrainOutput" |
| 239 | field: "right_voltage" |
| 240 | } |
| 241 | } |
| 242 | ylabel: "V" |
| 243 | } |
| 244 | axes { |
| 245 | line { |
| 246 | y_signal { |
| 247 | channel: "DrivetrainStatus" |
| 248 | field: "localizer.left_voltage_error" |
| 249 | } |
| 250 | } |
| 251 | line { |
| 252 | y_signal { |
| 253 | channel: "DrivetrainStatus" |
| 254 | field: "localizer.right_voltage_error" |
| 255 | } |
| 256 | } |
| 257 | ylabel: "V" |
| 258 | } |
| 259 | } |