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

adam style csv logging code

Browse Source
This commit is contained in:
john sandstedt 2016-02-20 15:22:53 -05:00
parent 91124a0ff0
commit 70fd1304a2
1 changed files with 88 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

88
src/Robot.cpp
View File

@ -19,6 +19,10 @@
#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
{
Talon left_drive, right_drive;
@ -113,6 +117,7 @@ private:
void AutonomousPeriodic()
{
LogCSVData();
if(autoSelected == autoNameCustom){
//Custom Auto goes here
} else {
@ -129,6 +134,7 @@ private:
void TeleopPeriodic()
{
LogCSVData();
std::cout << "Ramp position: "<< ramp.GetEncPosition() << std::endl;
drive.ArcadeDrive(&driver_stick, true);
@ -179,6 +185,88 @@ private:
void TestPeriodic()
{
lw->Run();
LogCSVData();
}
void LogCSVData()
{
static PowerDistributionPanel pdp; // preparing to read from the pdp
static DriverStation* ds = 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());
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" << ds->GetAlliance());
LOG("\t" << ds->GetLocation());
LOG("\t" << ds->GetMatchTime());
LOG("\t" << ds->IsFMSAttached());
LOG("\t" << ds->IsSysBrownedOut());
LOG(std::endl);
}
};