拨盘参数校准，超级电容代码，RGB,调试成功

application/chassis/chassis.c

@@ -50,9 +50,10 @@ static Chassis_Ctrl_Cmd_s Chassis_Power_Mx;
 const static float CHASSIS_ACCEL_X_NUM=0.1f;
 const static float CHASSIS_ACCEL_Y_NUM=0.1f;
 
+// 超级电容
+SuperCapInstance *cap;    // 超级电容全局
+float power_set;          // 超级电容功率设置
 
-
-static SuperCapInstance *cap;                                       // 超级电容
 static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
 
 /* 用于自旋变速策略的时间变量 */
@@ -115,16 +116,17 @@ void ChassisInit() {
     //超级电容
     SuperCap_Init_Config_s cap_conf = {
             .can_config = {
-                    .can_handle = &hcan2,
+                    .can_handle = &hcan1,
                     .tx_id = 0x210,
                     .rx_id = 0x211,
             }};
     cap = SuperCapInit(&cap_conf); // 超级电容初始化
+    power_set = 70;
+    SuperCapSetPower(cap,power_set);  // 超级电容限制功率
 
     //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(&vy_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
 #ifdef CHASSIS_BOARD
@@ -225,8 +227,6 @@ static void LimitChassisOutput()
         DJIMotorSetRef(motor_rb, vt_rb);
     }
 
-
-
 }
 
 /**
@@ -320,7 +320,8 @@ void ChassisTask() {
     //chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color;
     // 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.rest_heat = referee_data->PowerHeatData.shooter_heat0;
+    //chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
+    chassis_feedback_data.cap_power = cap->cap_msg.cap_vol;
 
     // 推送反馈消息
 #ifdef ONE_BOARD
@@ -329,4 +330,4 @@ void ChassisTask() {
 #ifdef CHASSIS_BOARD
     CANCommSend(chasiss_can_comm, (void *)&chassis_feedback_data);
 #endif // CHASSIS_BOARD
-}
+}

application/cmd/robot_cmd.c

@@ -9,6 +9,7 @@
 #include "general_def.h"
 #include "dji_motor.h"
 #include "auto_aim.h"
+#include "super_cap.h"
 // bsp
 #include "bsp_dwt.h"
 #include "bsp_log.h"
@@ -30,17 +31,17 @@ static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
 
 static Chassis_Ctrl_Cmd_s chassis_cmd_send;      // 发送给底盘应用的信息,包括控制信息和UI绘制相关
 static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
-
+extern SuperCapInstance *cap;             // 超级电容
-static RC_ctrl_t *rc_data;              // 遥控器数据,初始化时返回
+static RC_ctrl_t *rc_data;                // 遥控器数据,初始化时返回
 //static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
 //static Vision_Send_s vision_send_data;  // 视觉发送数据
 static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
-static SendPacket_t vision_send_data;  // 视觉发送数据
+static SendPacket_t vision_send_data;     // 视觉发送数据
 
 //自瞄相关信息
 static Trajectory_Type_t trajectory_cal;
 static Aim_Select_Type_t aim_select;
-static uint32_t no_find_cnt; // 未发现目标计数
+static uint32_t no_find_cnt;      // 未发现目标计数
 static uint8_t auto_aim_flag = 0; //辅助瞄准标志位  视野内有目标开启 目标丢失关闭
 
 static Publisher_t *gimbal_cmd_pub;            // 云台控制消息发布者
@@ -129,6 +130,7 @@ static void update_ui_data() {
     ui_data.aim_fire = aim_select.suggest_fire;
 
     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;
 }
 
 static void auto_aim_mode() {
@@ -356,14 +358,13 @@ static void MouseKeySet() {
             break;
     }
 
-    switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
+    switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量
     {
-        case 1:
+        case 0:
-
+            SuperCapSetPower(cap,40);
             break;
-
         default:
-
+            SuperCapSetPower(cap,70);
             break;
     }
 

application/gimbal/gimbal.c

@@ -83,8 +83,8 @@ void GimbalInit() {
     // PITCH
     Motor_Init_Config_s pitch_config = {
             .can_init_config = {
-                    .can_handle = &hcan1,
+                    .can_handle = &hcan2,
-                    .tx_id = 2,
+                    .tx_id = 1,
             },
             .controller_param_init_config = {
                     .angle_PID = {

application/robot_def.h

@@ -26,7 +26,7 @@
 
 /* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
 // 云台参数
-#define YAW_CHASSIS_ALIGN_ECD 6822 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
+#define YAW_CHASSIS_ALIGN_ECD 1371 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
 #define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
 #define PITCH_HORIZON_ECD 4422    // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
 #define PITCH_MAX_ANGLE 18           // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
@@ -130,10 +130,9 @@ typedef enum
 
 // 功率限制,从裁判系统获取,是否有必要保留?
 typedef struct
-{ // 功率控制
+{
-    uint16_t chassis_power_mx;
+    uint16_t chassis_power_mx; // 功率控制
-    uint16_t last_power_mx;
+    float cap_power;        // 超级电容功率控制
-
 } Chassis_Power_Data_s;
 
 /* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */
@@ -200,7 +199,8 @@ typedef struct
     uint8_t rest_heat;           // 剩余枪口热量
     Bullet_Speed_e bullet_speed; // 弹速限制
     Enemy_Color_e enemy_color;   // 0 for red, 1 for blue
-    Chassis_Power_Data_s chassis_power_mx;
+    uint16_t chassis_power_mx;
+    float cap_power;
 } Chassis_Upload_Data_s;
 
 

cmake-build-debug/CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj.d

@@ -113,6 +113,7 @@ CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj: \
  D:\zhandui\cqdm\bubing_9\modules\motor/motor_def.h \
  D:\zhandui\cqdm\bubing_9\modules\daemon/daemon.h \
  D:\zhandui\cqdm\bubing_9\modules\auto_aim/auto_aim.h \
+ D:\zhandui\cqdm\bubing_9\modules\super_cap/super_cap.h \
  D:\zhandui\cqdm\bubing_9\modules\referee/referee_task.h \
  D:\zhandui\cqdm\bubing_9\modules\referee/rm_referee.h \
  D:\zhandui\cqdm\bubing_9\modules\referee/referee_protocol.h \

cmake-build-debug/CMakeFiles/basic_framework.elf.dir/compiler_depend.internal

@@ -4283,6 +4283,7 @@ CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj
  D:/zhandui/cqdm/bubing_9/modules/motor/motor_def.h
  D:/zhandui/cqdm/bubing_9/modules/daemon/daemon.h
  D:/zhandui/cqdm/bubing_9/modules/auto_aim/auto_aim.h
+ D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.h
  D:/zhandui/cqdm/bubing_9/modules/referee/referee_task.h
  D:/zhandui/cqdm/bubing_9/modules/referee/rm_referee.h
  D:/zhandui/cqdm/bubing_9/modules/referee/referee_protocol.h
@@ -8225,6 +8226,10 @@ CMakeFiles/basic_framework.elf.dir/modules/referee/referee_task.c.obj
  D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/queue.h
  D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h
  D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/timers.h
+ D:/zhandui/cqdm/bubing_9/application/chassis/chassis.h
+ D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.h
+ D:/zhandui/cqdm/bubing_9/bsp/can/bsp_can.h
+ D:/zhandui/cqdm/bubing_9/Inc/can.h
 
 CMakeFiles/basic_framework.elf.dir/modules/referee/rm_referee.c.obj
  D:/zhandui/cqdm/bubing_9/modules/referee/rm_referee.c

cmake-build-debug/CMakeFiles/basic_framework.elf.dir/compiler_depend.make

@@ -4209,6 +4209,7 @@ CMakeFiles/basic_framework.elf.dir/application/cmd/robot_cmd.c.obj: D:/zhandui/c
   D:/zhandui/cqdm/bubing_9/modules/motor/motor_def.h \
   D:/zhandui/cqdm/bubing_9/modules/daemon/daemon.h \
   D:/zhandui/cqdm/bubing_9/modules/auto_aim/auto_aim.h \
+  D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.h \
   D:/zhandui/cqdm/bubing_9/modules/referee/referee_task.h \
   D:/zhandui/cqdm/bubing_9/modules/referee/rm_referee.h \
   D:/zhandui/cqdm/bubing_9/modules/referee/referee_protocol.h \
@@ -8104,7 +8105,11 @@ CMakeFiles/basic_framework.elf.dir/modules/referee/referee_task.c.obj: D:/zhandu
   D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h \
   D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/queue.h \
   D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h \
-  D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/timers.h
+  D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/include/timers.h \
+  D:/zhandui/cqdm/bubing_9/application/chassis/chassis.h \
+  D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.h \
+  D:/zhandui/cqdm/bubing_9/bsp/can/bsp_can.h \
+  D:/zhandui/cqdm/bubing_9/Inc/can.h
 
 CMakeFiles/basic_framework.elf.dir/modules/referee/rm_referee.c.obj: D:/zhandui/cqdm/bubing_9/modules/referee/rm_referee.c \
   D:/zhandui/cqdm/bubing_9/modules/referee/rm_referee.h \

cmake-build-debug/CMakeFiles/basic_framework.elf.dir/modules/referee/referee_task.c.obj.d

@@ -116,4 +116,8 @@ CMakeFiles/basic_framework.elf.dir/modules/referee/referee_task.c.obj: \
  D:\zhandui\cqdm\bubing_9\Middlewares\Third_Party\FreeRTOS\Source\include/semphr.h \
  D:\zhandui\cqdm\bubing_9\Middlewares\Third_Party\FreeRTOS\Source\include/queue.h \
  D:\zhandui\cqdm\bubing_9\Middlewares\Third_Party\FreeRTOS\Source\include/event_groups.h \
- D:\zhandui\cqdm\bubing_9\Middlewares\Third_Party\FreeRTOS\Source\include/timers.h
+ D:\zhandui\cqdm\bubing_9\Middlewares\Third_Party\FreeRTOS\Source\include/timers.h \
+ D:\zhandui\cqdm\bubing_9\application\chassis/chassis.h \
+ D:\zhandui\cqdm\bubing_9\modules\super_cap/super_cap.h \
+ D:\zhandui\cqdm\bubing_9\bsp\can/bsp_can.h \
+ D:\zhandui\cqdm\bubing_9\Inc/can.h

modules/referee/referee_task.c

@@ -14,7 +14,10 @@
 #include "referee_UI.h"
 #include "string.h"
 #include "cmsis_os.h"
+#include "chassis.h"
+#include "super_cap.h"
 
+extern SuperCapInstance *cap;                        // 超级电容
 static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
 static referee_info_t *referee_recv_info;            // 接收到的裁判系统数据
 Referee_Interactive_info_t ui_data;
@@ -109,17 +112,19 @@ void MyUIInit()
     UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
 
     // 能量条框
-//    UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
+    UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
-//    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
+    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
 
     // 底盘功率显示,动态
     UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 850, 230, referee_recv_info->GameRobotState.chassis_power_limit*1000);
-    // 能量条初始状态
-    //UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
-
-    //UIIntDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,18,2,1000,300,referee_recv_info->GameRobotState.chassis_power_limit);
-    //UIFloatDraw(&UI_Energy[3], "sd7", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 1000, 1000, referee_recv_info->GameRobotState.chassis_power_limit);
     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
+    UIIntDraw(&UI_Energy[3],"sd7",UI_Graph_ADD,8,UI_Color_Pink,18,2,1000,300,cap->cap_msg.cap_vol);
+    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[3]);
 }
 
 // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
@@ -253,7 +258,7 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
     if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
     {
         UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 850, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
-        //UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
+        UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + cap->cap_msg.cap_vol * 30, 160);
         UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
         _Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
     }
@@ -303,10 +308,16 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
         _Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
     }
 
-    if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.last_power_mx)
+    if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.chassis_power_mx)
     {
         _Interactive_data->Referee_Interactive_Flag.Power_flag = 1;
-        _Interactive_data->Chassis_last_Power_Data.last_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx;
+        _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->aim_fire != _Interactive_data->aim_last_fire)

modules/referee/rm_referee.h

@@ -7,6 +7,8 @@
 #include "bsp_usart.h"
 #include "FreeRTOS.h"
 
+
+
 extern uint8_t UI_Seq;
 
 #pragma pack(1)
@@ -55,6 +57,7 @@ typedef struct
 	uint32_t friction_flag : 1;
 	uint32_t Power_flag : 1;
 	uint32_t aim_flag : 1;
+	uint32_t cap_flag : 1;
 } Referee_Interactive_Flag_t;
 
 // 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
@@ -70,6 +73,7 @@ typedef struct
 	Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
     uint8_t aim_fire;                        // 开火建议
 
+
 	// 上一次的模式，用于flag判断
 	chassis_mode_e chassis_last_mode;
 	gimbal_mode_e gimbal_last_mode;

modules/super_cap/super_cap.c

@@ -1,14 +1,8 @@
-/*
- * @Descripttion:
- * @version:
- * @Author: Chenfu
- * @Date: 2022-12-02 21:32:47
- * @LastEditTime: 2022-12-05 15:29:49
- */
 #include "super_cap.h"
 #include "memory.h"
 #include "stdlib.h"
 
+
 static SuperCapInstance *super_cap_instance = NULL; // 可以由app保存此指针
 
 static void SuperCapRxCallback(CANInstance *_instance)

modules/super_cap/super_cap.h

@@ -1,10 +1,3 @@
-/*
- * @Descripttion:
- * @version:
- * @Author: Chenfu
- * @Date: 2022-12-02 21:32:47
- * @LastEditTime: 2022-12-05 15:25:46
- */
 #ifndef SUPER_CAP_H
 #define SUPER_CAP_H
 

xs.jdebug.user

@@ -2,17 +2,19 @@
 
 
 Breakpoint=D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c:183:5, State=BP_STATE_DISABLED
+OpenDocument="super_cap.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.c", Line=0
+OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=81
 OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=63
 OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=64
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=556, h=283, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=556, h=292, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=935, h=193, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=935, h=205, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=800, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
-OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=556, h=809, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=556, h=800, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=405, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=650, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=979, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=935, h=899, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 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="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20"
+OpenWindow="Timeline", DockArea=RIGHT, x=0, y=1, w=935, h=887, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 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="601;0", CodeGraphLegendShown=0, CodeGraphLegendPosition="608;0"
-OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=373, h=328, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=128, 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]
@@ -21,6 +23,7 @@ TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols
 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;114]
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
+TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;26]
 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
@@ -31,4 +34,5 @@ WatchedExpression="chassis_cmd_recv", RefreshRate=2, Window=Watched Data 1
 WatchedExpression="vx_filter", RefreshRate=2, Window=Watched Data 1
 WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
 WatchedExpression="shoot.c::shoot_cmd_recv", RefreshRate=2, Window=Watched Data 1
-WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
+WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1