openpilot_comma/tools/plotjuggler/layouts/max-torque-debug.xml

<?xml version='1.0' encoding='UTF-8'?>
<root>
 <tabbed_widget name="Main Window" parent="main_window">
  <Tab containers="1" tab_name="tab1">
   <Container>
    <DockSplitter orientation="-" count="4" sizes="0.249724;0.250829;0.249724;0.249724">
     <DockArea name="...">
      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
       <range left="0.000450" top="6.050533" right="2483.624998" bottom="-7.599037"/>
       <limitY/>
       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
      </plot>
     </DockArea>
     <DockArea name="...">
      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
       <range left="0.000450" top="5.384416" right="2483.624998" bottom="-7.503945"/>
       <limitY/>
       <curve color="#1ac938" name="roll compensated lateral acceleration"/>
      </plot>
     </DockArea>
     <DockArea name="...">
      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
       <range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
       <limitY/>
       <curve color="#0097ff" name="/carState/steeringPressed"/>
       <curve color="#d62728" name="/carOutput/actuatorsOutput/torque"/>
      </plot>
     </DockArea>
     <DockArea name="...">
      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
       <range left="0.000450" top="80.762969" right="2483.624998" bottom="-2.181837"/>
       <limitY/>
       <curve color="#f14cc1" name="/carState/vEgo">
        <transform alias="/carState/vEgo[Scale/Offset]" name="Scale/Offset">
         <options value_offset="0" time_offset="0" value_scale="2.23694"/>
        </transform>
       </curve>
      </plot>
     </DockArea>
    </DockSplitter>
   </Container>
  </Tab>
  <currentTabIndex index="0"/>
 </tabbed_widget>
 <use_relative_time_offset enabled="1"/>
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 <Plugins>
  <plugin ID="DataLoad Rlog"/>
  <plugin ID="Cereal Subscriber"/>
 </Plugins>
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 <customMathEquations>
  <snippet name="roll compensated lateral acceleration">
   <global></global>
   <function>if (v3 == 0 and v4 == 1) then
  return  (value * v1 ^ 2) - (v2 * 9.81)
end
return 0</function>
   <linked_source>/controlsState/curvature</linked_source>
   <additional_sources>
    <v1>/carState/vEgo</v1>
    <v2>/liveParameters/roll</v2>
    <v3>/carState/steeringPressed</v3>
    <v4>/carControl/latActive</v4>
   </additional_sources>
  </snippet>
  <snippet name="Desired lateral accel (roll compensated)">
   <global></global>
   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
   <linked_source>/controlsState/desiredCurvature</linked_source>
   <additional_sources>
    <v1>/carState/vEgo</v1>
    <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/>
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</root>