From cafb53ef885d872a05df4c9ae7858542bb979164 Mon Sep 17 00:00:00 2001 From: zyx <1323655521@qq.com> Date: Wed, 15 May 2024 03:27:39 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B6=85=E7=94=B5=E5=8A=9F=E7=8E=87=E6=8E=A7?= =?UTF-8?q?=E5=88=B6=EF=BC=8C=E4=BA=91=E5=8F=B0pid=EF=BC=8CUI=E6=9B=B4?= =?UTF-8?q?=E6=96=B0=EF=BC=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 23 +- application/cmd/robot_cmd.c | 13 +- application/robot_def.h | 10 +- .../application/chassis/chassis.c.obj | Bin 25524 -> 25504 bytes .../application/cmd/robot_cmd.c.obj | Bin 39732 -> 36484 bytes .../application/gimbal/gimbal.c.obj | Bin 19004 -> 19004 bytes .../application/shoot/shoot.c.obj | Bin 26620 -> 26620 bytes .../modules/auto_aim/auto_aim.c.obj | Bin 21360 -> 21360 bytes .../modules/referee/referee_UI.c.obj | Bin 26204 -> 26204 bytes .../modules/referee/referee_task.c.obj | Bin 31276 -> 28772 bytes cmake-build-debug/basic_framework.bin | Bin 137900 -> 137996 bytes cmake-build-debug/basic_framework.elf | Bin 1403776 -> 1400828 bytes cmake-build-debug/basic_framework.hex | 11039 ++++++++-------- cmake-build-debug/basic_framework.map | 2123 ++- modules/auto_aim/auto_aim.c | 2 +- modules/referee/referee_task.c | 57 +- modules/referee/rm_referee.h | 5 +- xs.jdebug.user | 27 +- 18 files changed, 6656 insertions(+), 6643 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 34ff22c..f06fd04 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -97,32 +97,33 @@ void ChassisInit() { }; // @todo: 当前还没有设置电机的正反转,仍然需要手动添加reference的正负号,需要电机module的支持,待修改. // 四个轮子pid分开 + //右前 chassis_motor_config.can_init_config.tx_id = 1; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_rf = DJIMotorInit(&chassis_motor_config); - + //左前 chassis_motor_config.can_init_config.tx_id = 2; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_lf = DJIMotorInit(&chassis_motor_config); - + //左后 chassis_motor_config.can_init_config.tx_id = 3; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 4.5f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_lb = DJIMotorInit(&chassis_motor_config); - + //右后 chassis_motor_config.can_init_config.tx_id = 4; chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_NORMAL; - chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.0f; + chassis_motor_config.controller_param_init_config.speed_PID.Kp = 5.5f; chassis_motor_config.controller_param_init_config.speed_PID.Ki = 0.01f; - chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.001f; + chassis_motor_config.controller_param_init_config.speed_PID.Kd = 0.002f; motor_rb = DJIMotorInit(&chassis_motor_config); //超级电容 @@ -335,7 +336,7 @@ void ChassisTask() { // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况 //chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; - chassis_feedback_data.cap_power = cap->cap_msg.cap_vol; + chassis_feedback_data.cap_vol = cap->cap_msg.cap_vol; //每次随等级更新超电的设定功率 SuperCapSetUpdate(); // 推送反馈消息 diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index c6578b8..7c8cfb8 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -133,15 +133,15 @@ static void death_check() static void update_ui_data() { ui_data.chassis_mode = chassis_cmd_send.chassis_mode; - ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode; + //ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode; ui_data.friction_mode = shoot_cmd_send.friction_mode; - ui_data.shoot_mode = shoot_cmd_send.shoot_mode; + //ui_data.shoot_mode = shoot_cmd_send.shoot_mode; ui_data.lid_mode = shoot_cmd_send.lid_mode; ui_data.aim_fire = aim_select.suggest_fire; - ui_data.loader_mode = shoot_cmd_send.loader_mode; + //ui_data.loader_mode = shoot_cmd_send.loader_mode; ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit; - ui_data.Chassis_Power_Data.cap_power = chassis_fetch_data.cap_power; + ui_data.Cap_Data.cap_vol = chassis_fetch_data.cap_vol; } static void auto_aim_mode() { @@ -226,7 +226,6 @@ static void RemoteControlSet() { if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE; if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE; - } // 左侧开关状态为[下],视觉模式 if (switch_is_down(rc_data[TEMP].rc.switch_left)) { @@ -391,10 +390,10 @@ static void MouseKeySet() { switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 { case 0: - SuperCapSetPower(cap,40); + chassis_cmd_send.buffer_supercap = 0; break; default: - SuperCapSetPower(cap,70); + chassis_cmd_send.buffer_supercap = 195; break; } diff --git a/application/robot_def.h b/application/robot_def.h index aceea89..4604e7f 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -130,10 +130,14 @@ typedef enum // 功率限制,从裁判系统获取,是否有必要保留? typedef struct { - uint16_t chassis_power_mx; // 功率控制 - float cap_power; // 超级电容功率控制 + uint16_t chassis_power_mx; // 功率限制 } Chassis_Power_Data_s; +// 电容信息 +typedef struct +{ + int16_t cap_vol; +} Cap_Data_s; /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */ /** * @brief 对于双板情况,遥控器和pc在云台,裁判系统在底盘 @@ -202,7 +206,7 @@ typedef struct Bullet_Speed_e bullet_speed; // 弹速限制 Enemy_Color_e enemy_color; // 0 for red, 1 for blue uint16_t chassis_power_mx; - float cap_power; + int16_t cap_vol; } Chassis_Upload_Data_s; diff --git a/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj b/cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/chassis/chassis.c.obj index 57ea8ca4f2defa7c133c0615502d69e5b2c8747b..dd96e1fa3496e7847f18a34518b3badc0cdabe04 100644 GIT binary patch delta 4971 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zQI;xVTYwX()nJ)y_#4F<<_8s0yBlApYf)2e#2LfVQ#N|ESdqnP-v{iE;0C3i3vcN(w2C(*=c;$?2LSm3iKl z)34#NC^f^l6KV dJextra_delay_time = 0.035;//0.025 + trajectory_cal->extra_delay_time = 0.08;//0.025 aim_sel->target_state.armor_type = receive_packet->id; aim_sel->target_state.armor_num = receive_packet->armors_num; diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index f33f3d0..d784bf7 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -60,7 +60,7 @@ void UITask() static Graph_Data_t UI_shoot_line[10]; // 射击准线 static Graph_Data_t UI_shoot_yuan[2]; // 射击圆心 -static Graph_Data_t UI_Energy[4]; // 电容能量条 +static Graph_Data_t UI_Energy[6]; // 电容能量条 static String_Data_t UI_State_sta[7]; // 机器人状态,静态只需画一次 static String_Data_t UI_State_dyn[7]; // 机器人状态,动态先add才能change static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565}; @@ -85,7 +85,7 @@ void MyUIInit() UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3],UI_shoot_yuan[0]); // 绘制车辆状态标志指示,静态 - UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 750, "chassis:"); + UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 10, 750, "E.spin:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]); // UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:"); // UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]); @@ -93,7 +93,7 @@ void MyUIInit() // UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]); UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 700, "F.frict:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]); - UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 650, "Q.lid:"); + UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 20, 2, 10, 650, "B.lid:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]); // UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 800, "load:"); // UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); @@ -110,7 +110,7 @@ void MyUIInit() // 绘制车辆状态标志,动态 // 由于初始化时xxx_last_mode默认为0,所以此处对应UI也应该设为0时对应的UI,防止模式不变的情况下无法置位flag,导致UI无法刷新 - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 170, 750, "zeroforce"); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 20, 2, 170, 750, "off"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]); // UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce"); // UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]); @@ -128,15 +128,19 @@ void MyUIInit() UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]); // 底盘功率显示,动态 - UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, referee_recv_info->GameRobotState.chassis_power_limit*1000); + UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[1]); - // 能量条初始状态 - //UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160); - - //超级电容电压 - UILineDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,30,720,160,(uint32_t)(720 + (cap->cap_msg.cap_vol-1200) * 0.416),160); + // 电容电压 + UIFloatDraw(&UI_Energy[2], "sd7", UI_Graph_ADD, 8, UI_Color_Pink, 18, 2,2, 850, 280,Interactive_data->Cap_Data.cap_vol); + UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[2]); + // 电容能量条 + UILineDraw(&UI_Energy[3], "sd8", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (Interactive_data->Cap_Data.cap_vol-1200) * 0.416), 160); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[3]); + + // 发弹量条框 + UILineDraw(&UI_Energy[4], "ss7", UI_Graph_ADD, 7, UI_Color_Pink, 2, 1325, 500, 1480, 500); + UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[4]); } static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data) @@ -148,17 +152,17 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i switch (_Interactive_data->chassis_mode) { case CHASSIS_ZERO_FORCE: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "zeroforce"); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off"); break; case CHASSIS_ROTATE: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "rotate "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "on "); // 此处注意字数对齐问题,字数相同才能覆盖掉 break; case CHASSIS_NO_FOLLOW: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "nofollow "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off"); break; case CHASSIS_FOLLOW_GIMBAL_YAW: - UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "follow "); + UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 20, 2, 170, 750, "off"); break; } UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]); @@ -238,20 +242,17 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i { UIFloatDraw(&UI_Energy[1], "sd6", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 850, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000); UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1]); - _Interactive_data->Referee_Interactive_Flag.cap_flag = 0; - } - // cap - if (_Interactive_data->Referee_Interactive_Flag.cap_flag == 1) - { - UILineDraw(&UI_Energy[3], "sd7", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (cap->cap_msg.cap_vol-1200) * 0.416), 160); - UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[3]); - _Interactive_data->Referee_Interactive_Flag.cap_flag = 0; + _Interactive_data->Referee_Interactive_Flag.Power_flag = 0; } + UIFloatDraw(&UI_Energy[2], "sd7", UI_Graph_Change, 8, UI_Color_Pink, 18, 2,2, 850, 280,Interactive_data->Cap_Data.cap_vol); + UIGraphRefresh(&referee_recv_info->referee_id, 1,UI_Energy[2]); + UILineDraw(&UI_Energy[3], "sd8", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)(720 + (Interactive_data->Cap_Data.cap_vol-1200) * 0.416), 160); + UIGraphRefresh(&referee_recv_info->referee_id, 1, &UI_Energy[3]); //绘制开火建议 if (_Interactive_data->Referee_Interactive_Flag.aim_flag == 1) { UICircleDraw(&UI_shoot_yuan[0], "sy0", UI_Graph_Change, 7, _Interactive_data->aim_fire == 0 ? UI_Color_Yellow : UI_Color_Main, 2, 960, 540, 10); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_shoot_yuan[0]); - _Interactive_data->Referee_Interactive_Flag.lid_flag = 0; + _Interactive_data->Referee_Interactive_Flag.aim_flag = 0; } } @@ -299,11 +300,11 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data) _Interactive_data->Chassis_last_Power_Data.chassis_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx; } - if (_Interactive_data->Chassis_Power_Data.cap_power != _Interactive_data->Chassis_last_Power_Data.cap_power) - { - _Interactive_data->Referee_Interactive_Flag.cap_flag = 1; - _Interactive_data->Chassis_last_Power_Data.cap_power = _Interactive_data->Chassis_Power_Data.cap_power; - } +// if (_Interactive_data->Cap_Data.cap_vol != _Interactive_data->Cap_last_Data.cap_vol) +// { +// _Interactive_data->Referee_Interactive_Flag.cap_flag = 1; +// _Interactive_data->Cap_last_Data.cap_vol = _Interactive_data->Cap_Data.cap_vol; +// } if (_Interactive_data->aim_fire != _Interactive_data->aim_last_fire) { diff --git a/modules/referee/rm_referee.h b/modules/referee/rm_referee.h index 991ed17..1abbf20 100644 --- a/modules/referee/rm_referee.h +++ b/modules/referee/rm_referee.h @@ -73,8 +73,8 @@ typedef struct lid_mode_e lid_mode; // 弹舱盖打开 Chassis_Power_Data_s Chassis_Power_Data; // 功率控制 uint8_t aim_fire; // 开火建议 - loader_mode_e loader_mode; // 发射模式 - + loader_mode_e loader_mode; // 发射模式 + Cap_Data_s Cap_Data; // 电容信息 // 上一次的模式,用于flag判断 chassis_mode_e chassis_last_mode; @@ -85,6 +85,7 @@ typedef struct Chassis_Power_Data_s Chassis_last_Power_Data; uint8_t aim_last_fire; loader_mode_e loader_last_mode; + Cap_Data_s Cap_last_Data; } Referee_Interactive_info_t; diff --git a/xs.jdebug.user b/xs.jdebug.user index 98f8724..55d9ebe 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,24 +1,25 @@ -OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0 -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=51 +OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=65 +OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=120 +OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/referee/referee_task.c", Line=251 OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418 -OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387 +OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0 OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=87 OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=191 OpenDocument="super_cap.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.c", Line=0 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=479, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=621, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=577, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=531, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1456, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1197, h=1057, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;841", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="923;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="939;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=269, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=506, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=490, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=550, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=1023, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1151, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1541, h=1057, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="2 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="0;861", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1314;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1330;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=213, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1" TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950] TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100] -TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;282] +TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126] TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110] TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;218] @@ -39,4 +40,6 @@ WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1 WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1 WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1 WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="ui_data", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="Interactive_data", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file