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pj: update torque control layout

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This commit is contained in:
Adeeb Shihadeh
2022-08-16 13:16:11 -07:00
parent 3fc001c945
commit 76a4daefff
2 changed files with 35 additions and 37 deletions
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6
tools/plotjuggler/layouts/max-torque-debug.xml
View File

@@ -51,12 +51,6 @@
<plugin ID="Cereal Subscriber"/>
</Plugins>
<!-- - - - - - - - - - - - - - - -->
<previouslyLoaded_Datafiles>
<fileInfo filename="../tmp2db6nfa2.rlog" prefix="">
<selected_datasources value=""/>
<plugin ID="DataLoad Rlog"/>
</fileInfo>
</previouslyLoaded_Datafiles>
<!-- - - - - - - - - - - - - - - -->
<customMathEquations>
<snippet name="roll compenstated lateral acceleration">

66
tools/plotjuggler/layouts/torque-controller.xml
View File

@@ -1,12 +1,12 @@
<?xml version='1.0' encoding='UTF-8'?>
<root>
<tabbed_widget parent="main_window" name="Main Window">
<tabbed_widget name="Main Window" parent="main_window">
<Tab tab_name="tab1" containers="1">
<Container>
<DockSplitter count="4" sizes="0.250401;0.249599;0.250401;0.249599" orientation="-">
<DockSplitter sizes="0.250298;0.250298;0.249106;0.250298" orientation="-" count="4">
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range top="4.389691" right="179.991353" bottom="-0.521339" left="0.000000"/>
<range bottom="-2.900899" top="3.526047" left="825.563261" right="1415.827546"/>
<limitY/>
<curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
<curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
@@ -14,7 +14,7 @@
</DockArea>
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range top="4.066465" right="179.991353" bottom="-0.758832" left="0.000000"/>
<range bottom="-4.577789" top="3.642392" left="825.563261" right="1415.827546"/>
<limitY/>
<curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
<curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
@@ -22,33 +22,26 @@
</DockArea>
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range top="0.921389" right="179.991353" bottom="-0.211878" left="0.000000"/>
<range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
<limitY/>
<curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
<transform alias="/carControl/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
<options value_scale="-1" value_offset="0" time_offset="0"/>
<transform name="Scale/Offset" alias="/carControl/actuatorsOutput/steer[Scale/Offset]">
<options time_offset="0" value_scale="-1" value_offset="0"/>
</transform>
</curve>
<curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
<curve name="/carState/steeringPressed" color="#ff000f"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range bottom="-1.373608" top="56.208012" left="825.563261" right="1415.827546"/>
<limitY/>
<curve name="carState.vEgo mph" color="#d62728"/>
<curve name="carState.vEgo kmh" color="#1ac938"/>
<curve name="/carState/vEgo" color="#ff7f0e"/>
</plot>
</DockArea>
<DockSplitter count="2" sizes="0.5;0.5" orientation="|">
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range top="1.025000" right="179.991353" bottom="-0.025000" left="0.000000"/>
<limitY/>
<curve name="/carControl/latActive" color="#1ac938"/>
<curve name="/carState/steeringPressed" color="#ff7f0e"/>
</plot>
</DockArea>
<DockArea name="...">
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range top="29.131291" right="179.991353" bottom="-0.711681" left="0.000000"/>
<limitY/>
<curve name="/carState/vEgo" color="#f14cc1"/>
</plot>
</DockArea>
</DockSplitter>
</DockSplitter>
</Container>
</Tab>
@@ -64,14 +57,15 @@
<!-- - - - - - - - - - - - - - - -->
<!-- - - - - - - - - - - - - - - -->
<customMathEquations>
<snippet name="Actual lateral accel (roll compensated)">
<snippet name="carState.vEgo kmh">
<global></global>
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
<linked_source>/controlsState/curvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
</additional_sources>
<function>return value * 3.6</function>
<linked_source>/carState/vEgo</linked_source>
</snippet>
<snippet name="carState.vEgo mph">
<global></global>
<function>return value * 2.23694</function>
<linked_source>/carState/vEgo</linked_source>
</snippet>
<snippet name="Desired lateral accel (roll compensated)">
<global></global>
@@ -82,7 +76,17 @@
<v2>/liveParameters/roll</v2>
</additional_sources>
</snippet>
<snippet name="Actual lateral accel (roll compensated)">
<global></global>
<function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
<linked_source>/controlsState/curvature</linked_source>
<additional_sources>
<v1>/carState/vEgo</v1>
<v2>/liveParameters/roll</v2>
</additional_sources>
</snippet>
</customMathEquations>
<snippets/>
<!-- - - - - - - - - - - - - - - -->
</root>