merge
This commit is contained in:
commit
dc3b7d6ff5
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@ -23,7 +23,7 @@ unsigned long last_log_send=0;
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#define LOGMININTERVAL 20 //minimum interval (ms) to send logs
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#define LOGMAXINTERVAL 10000 //maximum time (ms) after which data is send
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#define WRITE_HEADER_TIME 1000
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#define WRITE_HEADER_TIME 400 //just before FEEDBACKRECEIVETIMEOUT, so header gets written before error comments
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bool log_header_written = false;
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@ -57,6 +57,14 @@ unsigned long brake_ok_time=0;
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bool error_throttle_outofrange=false;
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bool error_brake_outofrange=false;
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unsigned long last_feedback=0; //time millis at last feedback receive
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float meanSpeedms=0;
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float trip=0; //trip distance in meters
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float wheelcircumference=0.5278; //wheel diameter in m. 8.4cm radius -> 0.084m*2*Pi
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#define PIN_START A9
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#define PIN_LED_START 2 //Enginge start led
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@ -112,12 +120,12 @@ SerialCommand CommandFront;
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SerialCommand CommandRear;
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typedef struct{
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typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct in main.c
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uint16_t start;
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int16_t cmd1;
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int16_t cmd2;
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int16_t speedL_meas; //left speed is negative when driving forward
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int16_t speedR_meas; //right speed is positive when driving forward
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int16_t speedL_meas; //left speed is positive when driving forward
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int16_t speedR_meas; //right speed is negatie when driving forward
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int16_t batVoltage;
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int16_t boardTemp;
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int16_t curL_DC; //negative values are current consumed. positive values mean generated current
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@ -130,8 +138,8 @@ SerialFeedback NewFeedbackFront;
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SerialFeedback FeedbackRear;
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SerialFeedback NewFeedbackRear;
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#define CURRENT_FILTER_SIZE 20 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
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#define CURRENT_MEANVALUECOUNT 4 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
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#define CURRENT_FILTER_SIZE 40 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
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#define CURRENT_MEANVALUECOUNT 10 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
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typedef struct{
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int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current
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int16_t curR_DC[CURRENT_FILTER_SIZE] = {0};
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@ -285,6 +293,13 @@ void loop() {
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updateMotorparams(motorparamsRear,FeedbackRear);
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}
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if (newData2 || newData3) { //when new data arrived from one controller
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float _meanRPM=FeedbackFront.speedL_meas-FeedbackFront.speedR_meas+FeedbackRear.speedL_meas-FeedbackRear.speedR_meas;
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float meanSpeedms=_meanRPM*wheelcircumference/60.0; // Units: 1/min * m / 60s
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trip+=abs(meanSpeedms)* (millis()-last_feedback) / 1000.0;
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last_feedback=millis();
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}
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if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
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last_adcread=loopmillis;
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@ -341,9 +356,9 @@ float filterMedian(int16_t* values) {
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void writeLogHeader(HardwareSerial &SerialRef) {
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SerialRef.print("time,cmd_FrontL,cmd_FrontR,cmd_RearL,cmd_RearR,");
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SerialRef.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
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SerialRef.print("speed_FrontL,speed_FrontR,speed_RearL,speed_RearR,");
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SerialRef.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
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SerialRef.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
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SerialRef.println("currentAll,throttle,brake");
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SerialRef.println("currentAll,throttle,brake,speed,trip");
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}
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void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake)
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@ -359,10 +374,10 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
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SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
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SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
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SerialRef.print(-fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
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SerialRef.print(fbfront.speedR_meas); SerialRef.print(",");
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SerialRef.print(-fbrear.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
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SerialRef.print(fbrear.speedR_meas); SerialRef.print(",");
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SerialRef.print(fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
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SerialRef.print(-fbfront.speedR_meas); SerialRef.print(",");
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SerialRef.print(fbrear.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
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SerialRef.print(-fbrear.speedR_meas); SerialRef.print(",");
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SerialRef.print(fbfront.boardTemp/10.0); SerialRef.print(","); //in degC
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SerialRef.print(fbrear.boardTemp/10.0); SerialRef.print(","); //in degC
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@ -371,7 +386,9 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
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SerialRef.print(currentAll,3); SerialRef.print(","); //invert. positive current is drive current
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SerialRef.print(throttle); SerialRef.print(",");
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SerialRef.print(brake); SerialRef.println();
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SerialRef.print(brake); SerialRef.print(",");
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SerialRef.print(meanSpeedms); SerialRef.print(","); // m/s
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SerialRef.print(trip); SerialRef.println(); //in m
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}
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void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
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@ -465,7 +482,7 @@ void failChecks() {
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void sendCMD() {
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#define MINIMUM_CONSTANT_CMD_REDUCE 1 //reduce cmd every loop by this constant amount when freewheeling/braking
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#define BREAK_CMDREDUCE_PROPORTIONAL 500 //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=BREAK_CMDREDUCE_PROPORTIONAL / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
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#define BREAK_CMDREDUCE_PROPORTIONAL 100 //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=BREAK_CMDREDUCE_PROPORTIONAL / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
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int16_t cmdreduce_constant=map(brake_pos,0,1000,0,(int16_t)(BREAK_CMDREDUCE_PROPORTIONAL*SENDPERIOD/1000)); //reduce cmd value every cycle
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#define STARTBREAKCURRENT 5 //Ampere. at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
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#define STARTBREAKCURRENT_OFFSET 0.1 //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
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@ -569,7 +586,7 @@ void readButtons() {
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if (button_start_state) { //pressed
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if ( (loopmillis> button_start_lastchange + LONG_PRESS_ARMING_TIME)) { //pressed long
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if (throttle_pos<=0 && brake_pos<=0 && !armed) { //brake or thottle not pressed
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if (throttle_pos<=0 && brake_pos<=0 && controllers_connected && !armed) { //brake or thottle not pressed, controllers connected
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armed=true; //arm if button pressed long enough
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writeLogComment(Serial1,loopmillis, "Armed by button");
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}
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@ -1 +1 @@
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Subproject commit 898898a63c6b494e0525df8a8ed2da98fcd5cdb1
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Subproject commit 40eb4916f98447f23c28058e31cd867cbc8f0e6c
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@ -47,7 +47,7 @@ public class Timeline
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while ((cID+1 < logdata.getRowCount()) && ( t2 > (logdata.getRow(cID+1).getFloat("time")))) { //while endtime not reached
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TableRow row = logdata.getRow(cID);
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nextTimeData=(long)(logdata.getRow(cID+1).getFloat("time")*1000); //get time and convert from seconds to ms
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nextTimeData=(int)(logdata.getRow(cID+1).getFloat("time")*1000); //get time and convert from seconds to ms
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lastTimeMillis=nextTimeMillis;
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@ -0,0 +1,52 @@
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import matplotlib.pyplot as plt
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import csv
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x=[]
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speed_FrontL=[]
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speed_FrontR=[]
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speed_RearL=[]
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speed_RearR=[]
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fp = open('LOG00193_20210516_fixedSpeedLR_freewheelingTest.TXT')
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rdr = csv.DictReader(filter(lambda row: row[0]!='#', fp))
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for row in rdr:
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#print(row)
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x.append(float(row['cmd_FrontL']))
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speed_FrontL.append(float(row['speed_FrontL']))
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speed_FrontR.append(float(row['speed_FrontR']))
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speed_RearL.append(float(row['speed_RearL']))
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speed_RearR.append(float(row['speed_RearR']))
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fp.close()
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#plt.plot(x,y, label='Loaded from file!')
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scattersize=5
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scatteralpha=0.1
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plt.scatter(x,speed_FrontL, s=scattersize, alpha=scatteralpha, label="speed_FrontL")
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plt.scatter(x,speed_FrontR, s=scattersize, alpha=scatteralpha, label="speed_FrontR")
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plt.scatter(x,speed_RearL, s=scattersize, alpha=scatteralpha, label="speed_RearL")
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plt.scatter(x,speed_RearR, s=scattersize, alpha=scatteralpha, label="speed_RearR")
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plt.xlabel('cmd')
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plt.ylabel('speed')
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plt.title('Interesting Graph\nCheck it out')
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plt.legend()
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plt.show()
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'''
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with open(,'r') as csvfile:
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plots = csv.reader(filter(lambda row: row[0]!='#', csvfile), delimiter=',')
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for row in plots:
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x.append(float(row[0]))
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y.append(float(row[1]))
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plt.plot(x,y, label='Loaded from file!')
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plt.xlabel('x')
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plt.ylabel('y')
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plt.title('Interesting Graph\nCheck it out')
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plt.legend()
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plt.show()
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'''
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@ -62,14 +62,17 @@ int timeoffset=0; //for moving timeslider
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Table logdata;
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int nextID=0; //next row number to be displayed
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long lastTimeData=0; //last time data received
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long nextTimeData=0; //time of nextID row
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long lastTimeMillis=0; //local time
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long nextTimeMillis=0; //local time
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int nextTimeData=0; //time of nextID row
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int lastTimeMillis=0; //local time
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int nextTimeMillis=0; //local time
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boolean newdataforced=true;
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int dataErrorCount=0;
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boolean running=true;
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int timePaused=0;
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//Data from log
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int cmd_FrontL;
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int cmd_FrontR;
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@ -114,20 +117,33 @@ void setup() {
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serialString = null;
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}else{
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logdata = loadTable(logfile_name, "header, csv");
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float _checkTimeLast=-100;
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for (int i=0; i < logdata.getRowCount();i++) {
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float _checkTimeCurrent=logdata.getRow(i).getFloat("time")*1000;
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if (logdata.getRow(i).getString(0).charAt(0)=='#') { //check if row starts with # (comment)
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print("removed row:");
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for (int is=0;is< logdata.getRow(i).getColumnCount(); is++)
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print("removed comment:");
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for (int is=0;is< logdata.getRow(i).getColumnCount() && logdata.getRow(i).getString(is) != null; is++)
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{
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print(logdata.getRow(i).getString(is)+",");
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print(", "+logdata.getRow(i).getString(is));
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}
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println();
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logdata.removeRow(i);
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logdata.removeRow(i); i--;
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}else if (Float.isNaN(_checkTimeCurrent) || _checkTimeCurrent <= _checkTimeLast) { //check if time is plausible
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print("removed unplausible time:");
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for (int is=0;is< logdata.getRow(i).getColumnCount() && logdata.getRow(i).getString(is) != null; is++)
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{
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print(", "+logdata.getRow(i).getString(is));
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}
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println();
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logdata.removeRow(i); i--;
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}
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}
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logdata_start_time=logdata.getRow(0).getFloat("time");
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logdata_end_time = logdata.getRow(logdata.getRowCount()-1).getFloat("time");
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println("loaded "+logdata.getRowCount()+" lines. Times: "+logdata_start_time+"s to "+logdata_end_time+"s");
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println("loaded "+logdata.getRowCount()+" lines. Starttime: "+logdata_start_time+"s , Endtime: "+logdata_end_time+"s");
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}
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PVector pos_vis_cmd = new PVector(100,200);
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@ -247,15 +263,22 @@ void setup() {
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if (showTimeline) {
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println("Preparing Timeline");
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tl = new Timeline(30,height-30, width-30*2, 28);
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tl.setTimes(logdata_start_time,logdata_end_time);
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tl.generatePreview(logdata);
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println("Timeline prepared");
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}
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}
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void draw() {
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long loopmillis=millis()-timeoffset;
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int loopmillis=0;
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if (running) {
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loopmillis=millis()-timeoffset;
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}else{ //paused
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loopmillis=timePaused-timeoffset;
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}
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if (useSerial) {
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if (serial.available() > 0) {
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@ -303,7 +326,7 @@ void draw() {
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TableRow row = logdata.getRow(nextID);
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lastTimeData=nextTimeData;
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nextTimeData=(long)(logdata.getRow(nextID+1).getFloat("time")*1000); //get time and convert from seconds to ms
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nextTimeData=(int)(logdata.getRow(nextID+1).getFloat("time")*1000); //get time and convert from seconds to ms
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lastTimeMillis=nextTimeMillis;
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nextTimeMillis=loopmillis;
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@ -315,20 +338,20 @@ void draw() {
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current_FrontL=row.getFloat("current_FrontL");
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current_FrontR=row.getFloat("current_FrontR");
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current_RearL=row.getFloat("current_RearL");
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current_RearR=row.getFloat("current_RearR");
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rpm_FrontL=row.getInt("rpm_FrontL");
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rpm_FrontR=row.getInt("rpm_FrontR");
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rpm_RearL=row.getInt("rpm_RearL");
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rpm_RearR=row.getInt("rpm_RearR");
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temp_Front=row.getFloat("temp_Front");
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temp_Rear=row.getFloat("temp_Rear");
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vbat_Front=row.getFloat("vbat_Front");
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vbat_Rear=row.getFloat("vbat_Rear");
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currentAll=row.getFloat("currentAll");
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throttle=row.getInt("throttle");
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brake=row.getInt("brake");
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speed=row.getFloat("speed");
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trip=row.getFloat("trip");
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current_RearR=row.getFloat("current_RearR");
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rpm_FrontL=row.getInt("rpm_FrontL");
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rpm_FrontR=row.getInt("rpm_FrontR");
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rpm_RearL=row.getInt("rpm_RearL");
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rpm_RearR=row.getInt("rpm_RearR");
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temp_Front=row.getFloat("temp_Front");
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temp_Rear=row.getFloat("temp_Rear");
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vbat_Front=row.getFloat("vbat_Front");
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vbat_Rear=row.getFloat("vbat_Rear");
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currentAll=row.getFloat("currentAll");
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throttle=row.getInt("throttle");
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brake=row.getInt("brake");
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speed=row.getFloat("speed");
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trip=row.getFloat("trip");
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if (loopmillis-nextTimeData>1000 && nextTimeData>lastTimeData) {//too much behind
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long _timestep=nextTimeData-lastTimeData; //approximated time step
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@ -407,8 +430,14 @@ void draw() {
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if (!useSerial && loopmillis-lastTimeData>(nextTimeData-lastTimeData)*10) { //deviation too high when reading from file
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text("ff="+(loopmillis-lastTimeData)+"ms", 5+75*2,12); //show warning
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}
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if (!running) {
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fill(color(255,100,100));
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}
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text("t="+(loopmillis/1000.0)+"s", 5,12);
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text("nextID="+nextID, 5,12+12);
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fill(color(200,200,200));
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text(""+(dataErrorCount)+" errors", 5+70*3,12);
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@ -423,12 +452,15 @@ void draw() {
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void keyPressed() {
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if (key == CODED) {
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/*if (keyCode == UP) {
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fillVal = 255;
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} else if (keyCode == DOWN) {
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fillVal = 0;
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if (!running) { //paused
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if (keyCode == LEFT) {
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} else if (keyCode == RIGHT) {
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timeoffset=timePaused-nextTimeData;
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}
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}
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*/
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} else {
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//println("key="+keyCode);
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if (keyCode==82) { //82=r
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@ -437,6 +469,14 @@ void keyPressed() {
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nextID=0;
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newdataforced=true;
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}
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if (keyCode == 32) {
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if (running) { //switching from running to pause
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timePaused=millis();
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}else{ //unpause
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timeoffset=+millis()-timePaused+timeoffset;
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}
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running=!running;
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}
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}
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}
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