controller_teensy/include/led.h

@@ -112,7 +112,7 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
                 if (loopmillis-last_notidle>5000) {
                     //Standing           
                     float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());     
-                    led_gauge(loopmillis,vbat,3.3*12,4.2*12,strip.Color(0,  255,   0, 0),strip.Color(100,  0,   0, 0));
+                    led_gauge(loopmillis,vbat,3*12,4.2*12,strip.Color(0,  255,   0, 0),strip.Color(100,  0,   0, 0));
                 }else{
                     //Driving
                     float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR();

controller_teensy/include/logging.h

@@ -81,7 +81,7 @@ bool initLogging() {
 
 void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
 
-  static unsigned long last_datalogging_write=loopmillis; //initialize with current time to have first log written after one interval
+  static unsigned long last_datalogging_write=0;
   static boolean logging_headerWritten=false;
 
   unsigned long logginginterval=LOGGINGINTERVAL;

controller_teensy/src/main.cpp

@@ -269,6 +269,14 @@ void loop() {
 
   
 
+  loggingLoop(loopmillis,escFront,escRear);
+  if (!armed && !statswritten) { //write stats only once when disarmed
+    statswritten=true;
+    writeTrip(loopmillis,escFront,escRear);
+  }
+  if (statswritten && armed) {
+    statswritten=false;
+  }
 
   leds();
   led_update(loopmillis,escFront,escRear); //ws2812 led ring
@@ -319,17 +327,6 @@ void loop() {
   serialCommandLoop(loopmillis,escFront,escRear);
   
 
-  //Logging
-  loggingLoop(loopmillis,escFront,escRear);
-  if (!armed && !statswritten) { //write stats only once when disarmed
-    statswritten=true;
-    writeTrip(loopmillis,escFront,escRear);
-  }
-  if (statswritten && armed) {
-    statswritten=false;
-  }
-  
-
   looptime_duration_min=min(looptime_duration_min,millis()-loopmillis);
   looptime_duration_max=max(looptime_duration_max,millis()-loopmillis);
 

logdata_visualization/analyze.py

@@ -1,47 +1,52 @@
 import matplotlib.pyplot as plt
-#import csv
+import csv
-import pandas as pd
 
-import numpy as np
+x=[]
+speed_FrontL=[]
+speed_FrontR=[]
+speed_RearL=[]
+speed_RearR=[]
+
+fp = open('LOG00203c_replacedFrontLeftWheel.TXT')
+
+rdr = csv.DictReader(filter(lambda row: row[0]!='#', fp))
+for row in rdr:
+    #print(row)
+    x.append(float(row['cmd_FrontL']))
+
+    speed_FrontL.append(float(row['speed_FrontL']))
+    speed_FrontR.append(float(row['speed_FrontR']))
+    speed_RearL.append(float(row['speed_RearL']))
+    speed_RearR.append(float(row['speed_RearR']))
+fp.close()
 
 
-import argparse
+#plt.plot(x,y, label='Loaded from file!')
-
+scattersize=5
-parser = argparse.ArgumentParser(description='Analyzes fixed csv logs from bobbycar')
-parser.add_argument('-i', '--input', type=argparse.FileType('r'), required=True, help="input csv log file")
-args = parser.parse_args()
-
-df = pd.read_csv(args.input.name)
-
-x = df['timestamp']
-x = [i-x[0] for i in x] #offset time by starttime
-
-
-scattersize=1
 scatteralpha=0.1
-
+plt.scatter(x,speed_FrontL, s=scattersize, alpha=scatteralpha, label="speed_FrontL")
-
+plt.scatter(x,speed_FrontR, s=scattersize, alpha=scatteralpha, label="speed_FrontR")
-fig, ax1 = plt.subplots()
+plt.scatter(x,speed_RearL, s=scattersize, alpha=scatteralpha, label="speed_RearL")
-
+plt.scatter(x,speed_RearR, s=scattersize, alpha=scatteralpha, label="speed_RearR")
-ax2 = ax1.twinx()
+plt.xlabel('cmd')
-
+plt.ylabel('speed')
-
+plt.title('Interesting Graph\nCheck it out')
-#plt.scatter(x,df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="rpm_FrontL")
+plt.legend()
-ax1.plot(x,np.array(df['vbat_Front']), c='b', alpha=0.5, label="vbat_Front")
-ax1.plot(x,np.array(df['vbat_Rear']), c='r', alpha=0.5, label="vbat_Rear")
-ax2.plot(x,np.array(df['cmd_FrontL']), c='r', alpha=0.5, label="cmd_FrontL")
-#plt.plot(x,np.array(df['currentConsumed']), c='g', alpha=0.5, label="currentConsumed")
-
-#plt.scatter(x,df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="rpm_FrontR")
-
-ax1.set_xlabel('timestamp')
-#plt.ylabel('data')
-ax1.set_ylabel('first axis')
-ax2.set_ylabel('second axis')
-#plt.title('')
-ax1.legend(loc='upper left')
-ax2.legend(loc='upper right')
 plt.show()
 
 
-exit()
+'''
+with open(,'r') as csvfile:
+    plots = csv.reader(filter(lambda row: row[0]!='#', csvfile), delimiter=',')
+    for row in plots:
+        x.append(float(row[0]))
+        y.append(float(row[1]))
+
+plt.plot(x,y, label='Loaded from file!')
+plt.xlabel('x')
+plt.ylabel('y')
+plt.title('Interesting Graph\nCheck it out')
+plt.legend()
+plt.show()
+'''
+

logdata_visualization/copyLogsFromBobbycar.py

@@ -148,50 +148,51 @@ def delete_file(filename):
         exit()
 
 
+if serialport.isOpen():
     
-if __name__ == "__main__":
+    establish_connection()
-    if serialport.isOpen():
-        
-        establish_connection()
     
 
 
-        #Get File List
+    #Get File List
-        filenames=get_filenames()
+    filenames=get_filenames()
 
 
-        #Copy all Files    
+    #Copy all Files    
+    failed=0
     
-        failed=0
+    for filename in filenames:
+        print("Reading file "+filename)
+        expectedsize=get_filesize(filename)
+        print("Expecting "+str(expectedsize)+" Byte")
 
-        for filename in filenames:
+        writefilename='sdcard/'+filename
-            print("Reading file "+filename)
+        receivedsize=copy_file(filename,writefilename,expectedsize)
-            expectedsize=get_filesize(filename)
-            print("Expecting "+str(expectedsize)+" Byte")
         
-            writefilename='sdcard/'+filename
+        if (expectedsize!=receivedsize):
-            receivedsize=copy_file(filename,writefilename,expectedsize)
+            print("Warning: Filesize does not match!")
+            failed+=1
 
-            if (expectedsize!=receivedsize):
+        print("")
-                print("Warning: Filesize does not match!")
-                failed+=1
 
-            print("")
+    print(str(len(filenames))+" Files copied with "+str(failed)+" failed")
-
-        print(str(len(filenames))+" Files copied with "+str(failed)+" failed")
     
     
 
-        #Delete all files
+    #Delete all files
-        
+    '''
-        '''
+    log_off()
-        log_off()
+    for filename in filenames:
-        for filename in filenames:
+        delete_file(filename)
-            delete_file(filename)
+    '''
-        '''
 
     
-    serialport.write("echo on\n".encode())
 
-    serialport.close()
+
+serialport.write("echo on\n".encode())
+
+
+    
+
+serialport.close()
 

logdata_visualization/logfix.py

@@ -107,6 +107,8 @@ if (args.consecutive):
         
         
 
+    print("")
+    print(inputFilenames)
     
 
 else:
@@ -148,7 +150,7 @@ for inputFilename in inputFilenames:
 
     linesStarttime+=_linesStarttime
     
-    print("Lines in file="+str(len(inputlines)))
+    print("Line in file="+str(len(inputlines)))
 
 assert len(lines)==len(linesStarttime), "Length of lines and linesStarttime does not match"