Adapt regression to signals

wheelerrobotics · Mar 7, 2023 · db869f3 · db869f3
1 parent 332704b
commit db869f3
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Showing 3 changed files with 24 additions and 16 deletions.
diff --git a/TeamCode/src/main/assets/tuning/dead-wheel-angular-ramp.html b/TeamCode/src/main/assets/tuning/dead-wheel-angular-ramp.html
@@ -79,7 +79,7 @@ <h1>RR Dead Wheel Angular Ramp Regression</h1>
     <script>
 function loadRegression(data) {
   const [_, angVels] = data.angVels.reduce((acc, vsArg) => {
-    const vs = fixAngVels(vsArg.slice(0, -1)).map(v => Math.abs(v));
+    const vs = fixAngVels(vsArg.values.slice(0, -1)).map(v => Math.abs(v));
     const maxV = vs.reduce((acc, v) => Math.max(acc, v), 0);
     const [accMaxV, _] = acc;
     if (maxV >= accMaxV) {
@@ -93,23 +93,31 @@ <h1>RR Dead Wheel Angular Ramp Regression</h1>
     const div = document.createElement('div');
     newLinearRegressionChart(div, 
       angVels.slice(1, -1),
-      fixVels(data.encTimes.slice(0, -1), data.parEncPositions[i].slice(0, -1), vs.slice(0, -1)),
+      fixVels(
+        vs.times.slice(0, -1), 
+        data.parEncPositions[i].values.slice(0, -1), 
+        vs.values.slice(0, -1)
+      ),
       {title: `Parallel Wheel ${i} Regression`, slope: 'y-position', noIntercept: true});
     deadWheelCharts.appendChild(div);
   });
   data.perpEncVels.forEach((vs, i) => {
     const div = document.createElement('div');
     newLinearRegressionChart(div, 
       angVels.slice(1, -1),
-      fixVels(data.encTimes.slice(0, -1), data.perpEncPositions[i].slice(0, -1), vs.slice(0, -1)),
+      fixVels(
+        vs.times.slice(0, -1), 
+        data.perpEncPositions[i].values.slice(0, -1), 
+        vs.values.slice(0, -1)
+      ),
       {title: `Perpendicular Wheel ${i} Regression`, slope: 'x-position', noIntercept: true});
     deadWheelCharts.appendChild(div);
   });
 
   const setParams = (() => {
     const allPowers = [...data.leftPowers, ...data.rightPowers];
-    const appliedVoltages = data.voltages.slice(0, -1).map((v, i) => 
-      allPowers.reduce((acc, ps) => Math.max(acc, ps[i]), 0) * v);
+    const appliedVoltages = data.voltages.values.slice(0, -1).map((v, i) => 
+      allPowers.reduce((acc, ps) => Math.max(acc, ps.values[i]), 0) * v);
 
     const setTrackWidthData = newLinearRegressionChart(
       document.getElementById('trackWidthChart'),

diff --git a/TeamCode/src/main/assets/tuning/drive-encoder-angular-ramp.html b/TeamCode/src/main/assets/tuning/drive-encoder-angular-ramp.html
@@ -62,31 +62,31 @@ <h1>RR Drive Encoder Angular Ramp Regression</h1>
     <script>
 function loadRegression(data) {
   const leftEncVels = data.leftEncVels.map((vs, i) =>
-        fixVels(data.encTimes.slice(0, -1), data.leftEncPositions[i].slice(0, -1), vs.slice(0, -1)));
+        fixVels(vs.times.slice(0, -1), data.leftEncPositions[i].values.slice(0, -1), vs.values.slice(0, -1)));
   const rightEncVels = data.rightEncVels.map((vs, i) =>
-        fixVels(data.encTimes.slice(0, -1), data.rightEncPositions[i].slice(0, -1), vs.slice(0, -1)));
+        fixVels(vs.times.slice(0, -1), data.rightEncPositions[i].values.slice(0, -1), vs.values.slice(0, -1)));
 
   newLinearRegressionChart(
     document.getElementById('rampChart'),
     [
-      ...leftEncVels.flatMap(vs => vs.slice(0, -1).map(v => -v)), 
-      ...rightEncVels.flatMap(vs => vs.slice(0, -1)),
+      ...leftEncVels.flatMap(vs => vs.values.slice(0, -1).map(v => -v)), 
+      ...rightEncVels.flatMap(vs => vs.values.slice(0, -1)),
     ],
     [
       ...data.leftPowers.flatMap(ps => {
-        const psNew = ps.slice(0, -1).map((p, i) => -p * data.voltages[i]);
+        const psNew = ps.values.slice(0, -1).map((p, i) => -p * data.voltages.values[i]);
         return psNew.slice(1, -1);
       }),
       ...data.rightPowers.flatMap(ps => {
-        const psNew = ps.slice(0, -1).map((p, i) => p * data.voltages[i]);
+        const psNew = ps.values.slice(0, -1).map((p, i) => p * data.voltages.values[i]);
         return psNew.slice(1, -1);
       }),
     ],
     {title: 'Ramp Regression', slope: 'kV', intercept: 'kS'}
   );
 
   const p = data.angVels.reduce((acc, vsArg) => {
-    const vs = fixAngVels(vsArg).map(v => Math.abs(v));
+    const vs = fixAngVels(vsArg.values).map(v => Math.abs(v));
     const maxV = vs.reduce((acc, v) => Math.max(acc, v), 0);
     const [accMaxV, _] = acc;
     if (maxV >= accMaxV) {

diff --git a/TeamCode/src/main/assets/tuning/forward-ramp.html b/TeamCode/src/main/assets/tuning/forward-ramp.html
@@ -61,10 +61,10 @@ <h1>RR Forward Ramp Regression</h1>
     <script>
 function loadRegression(data) {
   const forwardEncVels = data.forwardEncVels.flatMap((vs, i) => 
-    fixVels(data.encTimes.slice(0, -1), data.forwardEncPositions[i].slice(0, -1), vs.slice(0, -1)));
-  const appliedVoltages = data.forwardEncVels.flatMap(vs => {
-    const voltages = data.voltages.slice(0, -1).map((v, i) =>
-      data.powers.reduce((acc, ps) => Math.max(acc, ps[i]), 0) * v);
+    fixVels(vs.times.slice(0, -1), data.forwardEncPositions[i].values.slice(0, -1), vs.values.slice(0, -1)));
+  const appliedVoltages = data.forwardEncVels.flatMap(() => {
+    const voltages = data.voltages.values.slice(0, -1).map((v, i) =>
+      data.powers.reduce((acc, ps) => Math.max(acc, ps.values[i]), 0) * v);
 
     return voltages.slice(1, voltages.length - 1);
   });