From d7f77d0dc7ea342d11300770cd16b86040ef692a Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 10 Jul 2024 18:10:42 -0400 Subject: [PATCH] Improved PlotJuggler layout for lateral accel torque controller (#32949) * improved PlotJuggler layout for lat accel controller * help estimate steerActuatorDelay * update Actuator Performance, add Vehicle Dynamics * disable Y limits on actuator performance because sunny * apply delay estimation feedback from harald * gc extra custom series that PJ copied in * label wordsmithing old-commit-hash: e36ff90996ca55ae80530f9e6e436da58d0b7c89 --- .../plotjuggler/layouts/torque-controller.xml | 231 +++++++++++++++--- 1 file changed, 192 insertions(+), 39 deletions(-) diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml index d6e4684d63..b4edfdcc18 100644 --- a/tools/plotjuggler/layouts/torque-controller.xml +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -1,45 +1,193 @@ - - + + - - - - + + + + - - + + - - - + + + - - + + - - - + + + - - - + + + - - + + - - - + + + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -57,34 +205,39 @@ - - - return value * 3.6 - /carState/vEgo - - + - return value * 2.23694 - /carState/vEgo + return (0) + /carState/canValid - + return (value * v1 ^ 2) - (v2 * 9.81) - /controlsState/desiredCurvature + /controlsState/curvature /carState/vEgo /liveParameters/roll - + return (value * v1 ^ 2) - (v2 * 9.81) - /controlsState/curvature + /controlsState/desiredCurvature /carState/vEgo /liveParameters/roll + + + return value * 2.23694 + /carState/vEgo + + + + return value * 3.6 + /carState/vEgo +