From 5a320042a0beaaeae5d6f0aa0a9801fc271c3b13 Mon Sep 17 00:00:00 2001 From: zyxxj <1323655521@qq。> Date: Wed, 27 Mar 2024 04:10:50 +0800 Subject: [PATCH] =?UTF-8?q?=E8=87=AA=E7=9E=84=EF=BC=8C=E5=BA=95=E7=9B=98?= =?UTF-8?q?=E4=BD=8E=E9=80=9A=E6=BB=A4=E6=B3=A2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/chassis.c | 14 +- application/cmd/robot_cmd.c | 123 +- .../application/chassis/chassis.c.obj | Bin 22972 -> 24388 bytes .../application/chassis/chassis.c.obj.d | 11 + .../compiler_depend.internal | 11 + .../compiler_depend.make | 11 + .../modules/BMI088/bmi088.c.obj | Bin 34608 -> 34608 bytes .../modules/algorithm/user_lib.c.obj | Bin 14424 -> 15644 bytes .../modules/imu/ins_task.c.obj | Bin 37512 -> 37512 bytes .../modules/led/led.c.obj | Bin 10244 -> 10244 bytes .../modules/motor/DJImotor/dji_motor.c.obj | Bin 30456 -> 30456 bytes .../modules/motor/HTmotor/HT04.c.obj | Bin 30092 -> 30092 bytes cmake-build-debug/basic_framework.bin | Bin 135748 -> 135580 bytes cmake-build-debug/basic_framework.elf | Bin 1390064 -> 1391120 bytes cmake-build-debug/basic_framework.hex | 10916 ++++++++-------- cmake-build-debug/basic_framework.map | 2933 ++--- modules/algorithm/user_lib.c | 30 + modules/algorithm/user_lib.h | 11 + modules/imu/ins_task.c | 2 +- modules/referee/referee_task.c | 1 - xs.jdebug | 1 + xs.jdebug.user | 34 +- 22 files changed, 7080 insertions(+), 7018 deletions(-) diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 313afa2..54cbc3c 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -22,6 +22,7 @@ #include "bsp_dwt.h" #include "referee_UI.h" #include "arm_math.h" +#include "user_lib.h" #include "vofa.h" @@ -43,9 +44,11 @@ attitude_t *Chassis_IMU_data; static Publisher_t *chassis_pub; // 用于发布底盘的数据 static Subscriber_t *chassis_sub; // 用于订阅底盘的控制命令 #endif // !ONE_BOARD -static Chassis_Ctrl_Cmd_s chassis_cmd_recv ; // 底盘接收到的控制命令 +static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据 static Chassis_Ctrl_Cmd_s Chassis_Power_Mx; +const static float CHASSIS_ACCEL_X_NUM=0.1666666667f; +const static float CHASSIS_ACCEL_Y_NUM=0.3333333333f; @@ -58,6 +61,8 @@ static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left righ /* 私有函数计算的中介变量,设为静态避免参数传递的开销 */ static float chassis_vx, chassis_vy; // 将云台系的速度投影到底盘 static float vt_lf, vt_rf, vt_lb, vt_rb; // 底盘速度解算后的临时输出,待进行限幅 +first_order_filter_type_t vx_filter; +first_order_filter_type_t vy_filter; void ChassisInit() { // 四个轮子的参数一样,改tx_id和反转标志位即可 @@ -117,6 +122,9 @@ void ChassisInit() { }}; cap = SuperCapInit(&cap_conf); // 超级电容初始化 + //用一阶滤波代替斜波函数生成 + first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_X_NUM); + first_order_filter_init(&vx_filter, 0.002f, &CHASSIS_ACCEL_Y_NUM); // PowerMeter_Init_Config_s // 发布订阅初始化,如果为双板,则需要can comm来传递消息 @@ -270,7 +278,9 @@ void ChassisTask() { chassis_vx = chassis_cmd_recv.vx * cos_theta - chassis_cmd_recv.vy * sin_theta; chassis_vy = chassis_cmd_recv.vx * sin_theta + chassis_cmd_recv.vy * cos_theta; - + //一阶低通滤波计算 + first_order_filter_cali(&vx_filter, chassis_vx); + first_order_filter_cali(&vy_filter, chassis_vy); // 根据控制模式进行正运动学解算,计算底盘输出 //MecanumCalculate(); OmniCalculate(); diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 463f60f..3763791 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -119,8 +119,7 @@ static void CalcOffsetAngle() { * @brief 控制输入为遥控器(调试时)的模式和控制量设置 * */ -static void update_ui_data() -{ +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.friction_mode = shoot_cmd_send.friction_mode; @@ -129,6 +128,51 @@ static void update_ui_data() ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit; } +static void auto_aim_mode() { + trajectory_cal.v0 = 25; //弹速30 + if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0 + && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) { + aim_select.suggest_fire = 0; + //未发现目标 + no_find_cnt++; + + if (no_find_cnt >= 2000) { + //gimbal_scan_flag = 1; + //auto_aim_flag = 0; + } + //else + //auto_aim_flag = 1; + } else { + //弹道解算 + no_find_cnt = 0; + auto_aim_flag = 1; + + auto_aim(&aim_select, &trajectory_cal, vision_recv_data); + + VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]); + + float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw; + float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now; + float yaw_err = diff_yaw; + + if(diff_yaw>180) + diff_yaw -= 360; + else if(diff_yaw<-180) + diff_yaw += 360; + + gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw; + + gimbal_cmd_send.pitch = -trajectory_cal.cmd_pitch * 180 / PI; + + if (yaw_err <= 3) //3度 + { + aim_select.suggest_fire = 1; + } + else + aim_select.suggest_fire = 0; + } +} + static void RemoteControlSet() { // 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据? if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺 @@ -167,38 +211,7 @@ static void RemoteControlSet() { } // 左侧开关状态为[下],视觉模式 if (switch_is_down(rc_data[TEMP].rc.switch_left)) { - trajectory_cal.v0 = 25; //弹速30 - if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0 - && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) { - aim_select.suggest_fire = 0; - //未发现目标 - no_find_cnt++; - - if (no_find_cnt >= 2000) { - //gimbal_scan_flag = 1; - //auto_aim_flag = 0; - } - //else - //auto_aim_flag = 1; - } else { - //弹道解算 - no_find_cnt = 0; - auto_aim_flag = 1; - - auto_aim(&aim_select, &trajectory_cal, vision_recv_data); - - VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]); - - gimbal_cmd_send.yaw = truncf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle / 360) + trajectory_cal.cmd_yaw * 180 / PI; - - gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI; - - float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw); - if (yaw_err <= 5) //3度 - aim_select.suggest_fire = 1; - else - aim_select.suggest_fire = 0; - } + auto_aim_mode(); } // 云台软件限位 @@ -244,41 +257,6 @@ static void hand_aim_mode() { } -static void auto_aim_mode() { - trajectory_cal.v0 = 25; //弹速30 - if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0 - && vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) { - aim_select.suggest_fire = 0; - //未发现目标 - no_find_cnt++; - - if (no_find_cnt >= 2000) { - //gimbal_scan_flag = 1; - //auto_aim_flag = 0; - } - //else - //auto_aim_flag = 1; - } else { - //弹道解算 - no_find_cnt = 0; - auto_aim_flag = 1; - - auto_aim(&aim_select, &trajectory_cal, vision_recv_data); - - VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]); - - gimbal_cmd_send.yaw = truncf(gimbal_fetch_data.gimbal_imu_data.YawTotalAngle / 360) + trajectory_cal.cmd_yaw * 180 / PI; - - gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI; - - float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw); - if (yaw_err <= 5) //3度 - aim_select.suggest_fire = 1; - else - aim_select.suggest_fire = 0; - } -} - /** * @brief 输入为键鼠时模式和控制量设置 * @@ -310,10 +288,7 @@ static void MouseKeySet() { vision_recv_data->vz == 0)) { shoot_cmd_send.load_mode = LOAD_STOP; - } - - - else { + } else { auto_aim_mode(); if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l && shoot_cmd_send.friction_mode == FRICTION_ON) { @@ -432,7 +407,7 @@ void RobotCMDTask() { EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况 // 设置视觉发送数据,还需增加加速度和角速度数据 - VisionSetFlag(referee_data->referee_id.Robot_Color); + VisionSetFlag(!referee_data->referee_id.Robot_Color); //根据裁判系统反馈确定底盘功率上限 chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit; 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 f013f7c669d4c0ccabc03c23d49e7db7b98e8d6b..1b15024a81d4c4902324307c49de510ab0347304 100644 GIT binary patch literal 24388 zcmcJ1d3;;Nwf|gQNtUi;S(fd1iQ_o?YQ=U|vU`ye$7^I~Z9tK2*;bG(Bgu)ArjW9f z056n~u$F#+mbMfqP$)|m%2FPoE%Z^KlrEIlg{9EA(3ba7%JTc3x#!APBK?uyAHVyF z{GD^=%$YN1wlj03To7n&QWQlPk0R!Z2}+0;x5^yb5(#s~GO<)lZh7IP<-pA+Cm$FX zzw|&^%dwMU&+_pv94G-_?AbTozq5GbV<*MVedA9ZSU&#xp2FtOgTHtD8wUzDJ#kWi zH~T<-%SA}NdNO~{CF5V;c?i-^jnCfsIPlW(ukX1K@+TnmBgl+wpsJsJ=9x#N38(op z|EJ!yryiKzzI^bPCkGEqYn?WD6u1wzO>LV$cr~Y|w3G~9#c8sg^2=K8KUGw1Ta`2J zUHS0%i32Cb=j=IgGP>t+d>+H+34DCiKJDZG{pe$_OjQq3+9T6*W!f#%l`?(m5%FlY 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d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard\libg.a(lib_a-readr.o) + .debug_frame 0x0000a31c 0x20 d:/gcc-arm-none-eabi-10.3-2021.10-win32/gcc-arm-none-eabi-10.3-2021.10/bin/../lib/gcc/arm-none-eabi/10.3.1/thumb/v7e-m+fp/hard\libgcc.a(_arm_unorddf2.o) diff --git a/modules/algorithm/user_lib.c b/modules/algorithm/user_lib.c index 5029109..75d0dd5 100644 --- a/modules/algorithm/user_lib.c +++ b/modules/algorithm/user_lib.c @@ -212,3 +212,33 @@ void MatInit(mat *m, uint8_t row, uint8_t col) m->numRows = row; m->pData = (float *)zmalloc(row * col * sizeof(float)); } + +/** + * @brief 一阶低通滤波初始化 + * @author RM + * @param[in] 一阶低通滤波结构体 + * @param[in] 间隔的时间，单位 s + * @param[in] 滤波参数 + * @retval 返回空 + */ +void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, float frame_period, const float num[1]) +{ + first_order_filter_type->frame_period = frame_period; + first_order_filter_type->num[0] = num[0]; + first_order_filter_type->input = 0.0f; + first_order_filter_type->out = 0.0f; +} + +/** + * @brief 一阶低通滤波计算 + * @author RM + * @param[in] 一阶低通滤波结构体 + * @param[in] 间隔的时间，单位 s + * @retval 返回空 + */ +void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, float input) +{ + first_order_filter_type->input = input; + first_order_filter_type->out = + first_order_filter_type->num[0] / (first_order_filter_type->num[0] + first_order_filter_type->frame_period) * first_order_filter_type->out + first_order_filter_type->frame_period / (first_order_filter_type->num[0] + first_order_filter_type->frame_period) * first_order_filter_type->input; +} diff --git a/modules/algorithm/user_lib.h b/modules/algorithm/user_lib.h index 9a15097..93b8d08 100644 --- a/modules/algorithm/user_lib.h +++ b/modules/algorithm/user_lib.h @@ -53,6 +53,13 @@ void MatInit(mat *m, uint8_t row, uint8_t col); #ifndef PI #define PI 3.14159265354f #endif +typedef __packed struct +{ + float input; //输入数据 + float out; //滤波输出的数据 + float num[1]; //滤波参数 + float frame_period; //滤波的时间间隔 单位 s +} first_order_filter_type_t; #define VAL_LIMIT(val, min, max) \ do \ @@ -120,6 +127,10 @@ void Cross3d(float *v1, float *v2, float *res); float Dot3d(float *v1, float *v2); float AverageFilter(float new_data, float *buf, uint8_t len); +//一阶低通滤波初始化 +void first_order_filter_init(first_order_filter_type_t *first_order_filter_type, float frame_period, const float num[1]); +//一阶低通滤波计算 +void first_order_filter_cali(first_order_filter_type_t *first_order_filter_type, float input); #define rad_format(Ang) loop_float_constrain((Ang), -PI, PI) diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index 9b6ea8a..e5b9120 100644 --- a/modules/imu/ins_task.c +++ b/modules/imu/ins_task.c @@ -162,7 +162,7 @@ void INS_Task(void) { INS.YawTotalAngle = QEKF_INS.YawTotalAngle; //VisionSetAltitude(INS.Yaw, INS.Pitch, INS.Roll); - VisionSetAltitude(INS.Yaw * PI / 180, INS.Roll * PI / 180); + VisionSetAltitude(INS.Yaw * PI / 180, -INS.Roll * PI / 180); } // temperature control diff --git a/modules/referee/referee_task.c b/modules/referee/referee_task.c index 59715e8..b4fe676 100644 --- a/modules/referee/referee_task.c +++ b/modules/referee/referee_task.c @@ -103,7 +103,6 @@ void MyUIInit() UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open "); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); - // 底盘功率显示，静态 UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "Power_MAX:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); diff --git a/xs.jdebug b/xs.jdebug index 4094851..359ad35 100644 --- a/xs.jdebug +++ b/xs.jdebug @@ -33,6 +33,7 @@ void OnProjectLoad (void) { // // User settings // + Project.SetOSPlugin ("FreeRTOSPlugin_CM4"); Edit.SysVar (VAR_HSS_SPEED, FREQ_500_HZ); File.Open ("$(ProjectDir)/cmake-build-debug/basic_framework.elf"); } diff --git a/xs.jdebug.user b/xs.jdebug.user index 18ab128..ddc9139 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,32 +1,38 @@ -OpenDocument="main.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/main.c", Line=64 -OpenDocument="bsp_dwt.c", FilePath="D:/zhandui/cqdm/basic_framework/bsp/dwt/bsp_dwt.c", Line=79 +OpenDocument="xs.jdebug", FilePath="D:/zhandui/cqdm/basic_framework/xs.jdebug", Line=0 +OpenDocument="ins_task.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/imu/ins_task.c", Line=192 +OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/referee/referee_task.c", Line=75 +OpenDocument="main.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/main.c", Line=63 +OpenDocument="bsp_dwt.c", FilePath="D:/zhandui/cqdm/basic_framework/bsp/dwt/bsp_dwt.c", Line=75 OpenDocument="startup_stm32f407ighx.s", FilePath="D:/zhandui/cqdm/basic_framework/Startup/startup_stm32f407ighx.s", Line=46 OpenDocument="stm32f4xx_it.c", FilePath="D:/zhandui/cqdm/basic_framework/Src/stm32f4xx_it.c", Line=102 OpenDocument="controller.c", FilePath="D:/zhandui/cqdm/basic_framework/modules/algorithm/controller.c", Line=133 OpenDocument="controller.h", FilePath="D:/zhandui/cqdm/basic_framework/modules/algorithm/controller.h", Line=42 OpenDocument="SEGGER_RTT.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c", Line=1181 OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/basic_framework/application/gimbal/gimbal.c", Line=105 -OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/basic_framework/application/chassis/chassis.c", Line=51 +OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/basic_framework/application/chassis/chassis.c", Line=180 OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/basic_framework/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3394 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=651, h=534, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=1649, h=158, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=929, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C -OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=651, h=558, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=645, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=379, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 -OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=1649, h=934, 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;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1422;-71", CodeGraphLegendShown=0, CodeGraphLegendPosition="1438;0" -OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=604, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=651, h=544, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=1045, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=651, h=568, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=725, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=426, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=681, h=328, 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;126] TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100] -TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;100;104;183] +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;100;104;209] TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] -TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;685] +TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;27] WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1 WatchedExpression="pitch_motor", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="motor_rf", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="motor_rf", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="referee_data", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="referee_recv_info", Window=Watched Data 1 +WatchedExpression="chassis_power_limit", Window=Watched Data 1 +WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file