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measured_tilt:
title : 'Tilt Angle'
y_var: 'Tilt'
x_label: 'Time (s)'
y_label: 'Tilt (deg)'
runs : ['no_balance', 'impulse_force']
colors : ['grey', 'orange']
linestyles: ['-' , '-']
legend:
no balance:
color: 'grey'
linestyle: '-'
balanced:
color: 'orange'
linestyle: '-'
xlim: [0.0, 10.0]
velocity:
title : 'Velocity'
y_var: 'ForwardVelocity'
x_label: 'Time (s)'
y_label: 'Velocity (m/s)'
runs : ['no_balance', 'impulse_force']
colors : ['grey', 'orange']
linestyles: ['-' , '-']
legend:
no balance:
color: 'grey'
linestyle: '-'
balanced:
color: 'orange'
linestyle: '-'
xlim: [0.0, 10.0]
tilt_control:
title : 'Tilt Control'
desired_y_var: 'DesiredTilt'
actual_y_var: 'Tilt'
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Tilt (deg)'
colors : ['red', 'blue']
legend:
desired:
color: 'red'
linestyle: '-'
actual:
color: 'blue'
linestyle: '-'
xlim: [0.0, 10.0]
velocity_control:
title : 'Velocity Control'
desired_y_var: 'DesiredVelocity'
actual_y_var: 'ForwardVelocity'
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Velocity (m/s)'
colors : ['red', 'blue']
legend:
desired:
color: 'red'
linestyle: '-'
actual:
color: 'blue'
linestyle: '-'
xlim: [0.0, 10.0]
turn_rate:
title : 'Turn Rate - Robot Frame'
y_var: 'TurnRate'
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Turn Rate (deg/s)'
colors : ['blue']
xlim: [0.0, 30.0]
heading:
title : 'Heading - World Frame'
y_var: 'Heading'
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Heading (deg)'
colors : ['blue']
xlim: [0.0, 30.0]
wheel_vel:
title : 'Wheel Velocity'
vars: ['LeftMotorVelocity',
'RightMotorVelocity']
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Velocity (deg/s)'
colors : ['orange', 'grey']
legend:
left:
color: 'orange'
linestyle: '-'
right:
color: 'grey'
linestyle: '-'
xlim: [0.0, 30.0]
loop_jitter:
title : 'Loop Jitter'
y_var: 'DeltaT'
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Delta-T (s)'
colors : ['blue']
xlim: [0.0, 30.0]
turning_control:
title : 'Turning Control'
desired_y_var: 'DesiredTurnRate'
actual_y_var: 'TurnRate'
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Turn Rate (deg/s)'
colors : ['red', 'blue']
legend:
desired:
color: 'red'
linestyle: '-'
actual:
color: 'blue'
linestyle: '-'
xlim: [0.0, 30.0]
heading_derived:
title : 'Derived Heading - World Frame'
y_var: 'DerivedHeading'
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Heading (deg)'
colors : ['blue']
xlim: [0.0, 30.0]
position_derived:
title : 'Derived Position - World Frame'
x_var: 'DerivedXPos'
y_var: 'DerivedYPos'
runs : ['balance']
x_label: 'Pos-X (m)'
y_label: 'Pos-Y (m)'
colors : ['blue']
xlim: [-1.0, 2.0]
ylim: [-1.0, 2.0]
heading_control:
title : 'Heading Control - World Frame'
desired_y_var: 'DesiredHeading'
actual_y_var: 'DerivedHeading'
runs : ['balance']
x_label: 'Time (s)'
y_label: 'Heading (deg)'
colors : ['red', 'blue']
legend:
desired:
color: 'red'
linestyle: '-'
actual:
color: 'blue'
linestyle: '-'
xlim: [0.0, 30.0]
position_control:
title : 'Position Control - World Frame'
desired_x_var: 'DesiredXPos'
desired_y_var: 'DesiredYPos'
actual_x_var: 'DerivedXPos'
actual_y_var: 'DerivedYPos'
runs : ['balance']
x_label: 'Pos-X (m)'
y_label: 'Pos-Y (m)'
colors : ['red', 'blue']
legend:
desired:
color: 'red'
linestyle: '-'
actual:
color: 'blue'
linestyle: '-'
xlim: [-1.0, 2.0]
ylim: [-1.0, 2.0]
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