openpilot_comma/tools/plotjuggler/layouts/torque-controller.xml

<?xml version='1.0' encoding='UTF-8'?>
<root>
 <tabbed_widget name="Main Window" parent="main_window">
  <Tab tab_name="tab1" containers="1">
   <Container>
    <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 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"/>
      </plot>
     </DockArea>
     <DockArea name="...">
      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
       <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"/>
      </plot>
     </DockArea>
     <DockArea name="...">
      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
       <range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
       <limitY/>
       <curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
        <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>
   </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>
 <!-- - - - - - - - - - - - - - - -->
 <!-- - - - - - - - - - - - - - - -->
 <customMathEquations>
  <snippet name="carState.vEgo kmh">
   <global></global>
   <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>
   <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/>
 <!-- - - - - - - - - - - - - - - -->
</root>