adam/FRC2016
Archived
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge branch 'logging' into release

Browse Source
This commit is contained in:
dkbug 2016-02-27 13:26:00 -05:00
commit 604e96e0c3
1 changed files with 116 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

117
src/Robot.cpp
View File

@ -1,5 +1,13 @@
#include "WPILib.h"
#include "Shooter.h"
#include <ctime>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <string>
#include <sys/time.h>
#include <vector>
#include <cmath>
#include <math.h>
#ifndef BUTTON_LAYOUT
@ -22,6 +30,10 @@
#endif // BUTTON_LAYOUT
#ifndef LOG
#define LOG(X) logA << X; logB << X; logC << X //for writing data to the csv file
#endif
class Robot: public IterativeRobot
{
TalonSRX left_drive, right_drive;
@ -31,6 +43,8 @@ class Robot: public IterativeRobot
RobotDrive drive;
Shooter shooter;
Joystick driver_stick, operator_stick;
//DriverStation DriverStation::GetInstance();
//float power;
public:
Robot():
left_drive(0), // Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
@ -65,6 +79,20 @@ private:
const std::string autoNameCustom = "My Auto";
std::string autoSelected;
/*void LogData()
{
static PowerDistributionPanel pdp;
static DriverStation DriverStation::GetInstance() = DriverStation::GetInstance();
static std::vector<CANTalon*> motors;
static std::ofstream logA, logB, logC;
timeval tm;
SmartDashboard::PutBoolean("log A", logA.is_open());
SmartDashboard::PutBoolean("log B", logB.is_open());
SmartDashboard::PutBoolean("log C", logC.is_open());
}*/
void RobotInit()
{
chooser = new SendableChooser();
@ -112,7 +140,12 @@ private:
void AutonomousPeriodic()
{
LogCSVData();
if(autoSelected == autoNameCustom){
//Custom Auto goes here
} else {
//Default Auto goes here
}
}
void TeleopInit()
@ -122,6 +155,7 @@ private:
void TeleopPeriodic()
{
LogCSVData();
std::cout << "arm encoder position: " << arms.GetEncPosition() << std::endl;
std::cout << "arm encoder velocity: " << arms.GetEncVel() << std::endl;
drive.ArcadeDrive(-driver_stick.GetY(), -driver_stick.GetX()*0.75);
@ -285,6 +319,87 @@ private:
void TestPeriodic()
{
lw->Run();
LogCSVData();
}
void LogCSVData()
{
static PowerDistributionPanel pdp; // preparing to read from the pdp
static std::vector<CANTalon*> motors;
static std::ofstream logA, logB, logC;
timeval tm;
SmartDashboard::PutBoolean("log A", logA.is_open());
SmartDashboard::PutBoolean("log B", logB.is_open());
SmartDashboard::PutBoolean("log C", logC.is_open());
if (!logA.is_open() && !logB.is_open() && !logC.is_open())
{
std::fstream logNumFile;
int logNum;
logNumFile.open("/home/lvuser/logNum");
logNumFile >> logNum;
logNum++;
logNumFile.seekp(0);
logNumFile << logNum;
// writing to /home/lvuser/logs/[unixtime].log
logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;
LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
for (int ii = 0; ii < 16; ii++)
{
LOG("pdpChannel " << ii << " current\t");
}
LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
motors.push_back(&ramp);
LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
motors.push_back(&shooter1);
LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
motors.push_back(&shooter2);
LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
LOG("\tTestStage");
LOG(std::endl);
}
gettimeofday(&tm, NULL);
LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
// Some general information
LOG("\t" << pdp.GetVoltage());
LOG("\t" << pdp.GetTemperature());
LOG("\t" << pdp.GetTotalCurrent());
// current on each channel
for (int ii = 0; ii < 16; ii++)
{
LOG("\t" << pdp.GetCurrent(ii));
}
//Talon Data
for(int ii = 0; ii < motors.size(); ii++)
{
LOG("\t" << motors[ii]->GetBusVoltage());
LOG("\t" << motors[ii]->GetOutputVoltage());
LOG("\t" << motors[ii]->GetOutputCurrent());
LOG("\t" << motors[ii]->GetTemperature());
}
//control data
LOG("\t" << driver_stick.GetX());
LOG("\t" << driver_stick.GetY());
LOG("\t" << driver_stick.GetTwist());
//DriverStation Data
LOG("\t" << DriverStation::GetInstance().GetAlliance());
LOG("\t" << DriverStation::GetInstance().GetLocation());
LOG("\t" << DriverStation::GetInstance().GetMatchTime());
LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
LOG(std::endl);
}
void SimpleDrive()