diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 86ed318..c38af74 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -91,7 +91,7 @@ void ChassisInit() { .speed_feedback_source = MOTOR_FEED, .outer_loop_type = SPEED_LOOP, .close_loop_type = SPEED_LOOP, // CURRENT_LOOP, - .power_limit_flag = NO_POWER_LIMIT, + .power_limit_flag = POWER_LIMIT_ON, }, .motor_type = M3508, }; @@ -194,7 +194,7 @@ static void OmniCalculate() { static const float motor_power_K[3] = {1.6301e-6f,5.7501e-7f,2.5863e-7f}; float input; -float P_max; +float P_max = 0; ///依据3508电机功率模型，预测电机输出功率 static float EstimatePower(DJIMotorInstance* chassis_motor) @@ -237,8 +237,8 @@ static void LimitChassisOutput() } float K = P_max / P_cmd; - if(chassis_cmd_recv.buffer_energy<5)//当缓冲功率过小时，限制功率给小； - K = (float)(chassis_cmd_recv.chassis_power_limit - 3) / P_cmd; +// if(chassis_cmd_recv.buffer_energy<5)//当缓冲功率过小时，限制功率给小； +// K = (float)(chassis_cmd_recv.chassis_power_limit - 3) / P_cmd; motor_rf->motor_controller.motor_power_scale = K; motor_rb->motor_controller.motor_power_scale = K; motor_lf->motor_controller.motor_power_scale = K; @@ -253,14 +253,13 @@ static void LimitChassisOutput() } /** - * @brief 每次随等级更新超电的设定功率 + * @brief 超电功率对缓冲功率进行闭环 * * */ static void SuperCapSetUpdate() { - PIDCalculate(&cap->buffer_pid, chassis_cmd_recv.buffer_energy,30);//对缓冲功率进行闭环 input = chassis_cmd_recv.chassis_power_limit - cap->buffer_pid.Output; LIMIT_MIN_MAX(input, 30, 130); diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c index 505bf26..58dd168 100644 --- a/application/cmd/robot_cmd.c +++ b/application/cmd/robot_cmd.c @@ -403,39 +403,28 @@ static void MouseKeySet() { break; } break; - default: - chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 - { - case 0: - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; - break; - default: - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - break; - } - break; - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 - { - case 0: - loader_flag = 0; - break; case 1: - loader_flag = 1; - break; - default: - loader_flag = 3; + chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; break; } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 +// { +// case 0: +// loader_flag = 0; +// break; +// case 1: +// loader_flag = 1; +// break; +// default: +// loader_flag = 3; +// break; +// } switch (rc_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 { case 0: - chassis_cmd_send.buffer_supercap = 0; + chassis_cmd_send.buffer_supercap = 5; break; - default: + case 1: chassis_cmd_send.buffer_supercap = 195; break; } @@ -454,7 +443,7 @@ static void MouseKeySet() { */ static void VTMouseKeySet() { - chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 3000 - vt_data[TEMP].key[KEY_PRESS].s * 3000; // 系数待测 + chassis_cmd_send.vy = vt_data[TEMP].key[KEY_PRESS].w * 6000 - vt_data[TEMP].key[KEY_PRESS].s * 6000; // 系数待测 小 3000 3000 chassis_cmd_send.vx = vt_data[TEMP].key[KEY_PRESS].a * 3000 - vt_data[TEMP].key[KEY_PRESS].d * 3000; gimbal_cmd_send.yaw -= (float) vt_data[TEMP].mouse.x / 660 * 4; // 系数待测 @@ -543,10 +532,10 @@ static void VTMouseKeySet() // gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; // break; // } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 { case 0: - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 + switch (vt_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 { case 0: chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; @@ -558,19 +547,8 @@ static void VTMouseKeySet() break; } break; - default: + case 1: chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺 - { - case 0: - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE; - break; - default: - chassis_cmd_send.chassis_mode = CHASSIS_ROTATE; - gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE; - break; - } break; } switch (vt_data[TEMP].key_count[KEY_PRESS][Key_Q] % 2) // Q键开关热控 @@ -582,33 +560,24 @@ static void VTMouseKeySet() shoot_cmd_send.heat_mode = HEAT_CLOSE; break; } - switch (vt_data[TEMP].key_count[KEY_PRESS][Key_C] % 2) // C键侧向 - { - case 0: - chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW; - break; - default: - chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS; - break; - } - switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 - { - case 0: - loader_flag = 0; - break; - case 1: - loader_flag = 1; - break; - default: - loader_flag = 3; - break; - } +// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式 +// { +// case 0: +// loader_flag = 0; +// break; +// case 1: +// loader_flag = 1; +// break; +// default: +// loader_flag = 3; +// break; +// } switch (vt_data[TEMP].key[KEY_PRESS].shift) //按shift允许消耗超级电容能量 { case 0: - chassis_cmd_send.buffer_supercap = 0; + chassis_cmd_send.buffer_supercap = 5; break; - default: + case 1: chassis_cmd_send.buffer_supercap = 195; break; } diff --git a/application/robot_def.h b/application/robot_def.h index cd75bc7..2d256f1 100644 --- a/application/robot_def.h +++ b/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 1443 // 小 1443 大2053 // 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 2053 // 小 1443 大2053 // 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 25 // 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) diff --git 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UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740); UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]); UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Orange, 2, 960, 200, 960, 600); - UICircleDraw(&UI_shoot_yuan[0],"sy0",UI_Graph_ADD,7,UI_Color_Yellow,2,960,540,10); + UICircleDraw(&UI_shoot_yuan[0],"sy0",UI_Graph_ADD,7,UI_Color_Yellow,2,960,540,80); 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 @@ -109,7 +109,7 @@ void MyUIInit() UICharRefresh(&referee_recv_info->referee_id, UI_prompt_sta[1]); // 底盘功率显示，静态 - UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "Power_MAX:"); + UICharDraw(&UI_State_sta[6], "ss6", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 620, 230, "MAX:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[6]); // 绘制车辆状态标志，动态 @@ -132,8 +132,8 @@ void MyUIInit() // UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[5]); // 能量条框 - 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]); +// 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]); // 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, Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000); @@ -143,8 +143,8 @@ void MyUIInit() 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]); +// 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); @@ -264,11 +264,11 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i } 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]); +// 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); + UICircleDraw(&UI_shoot_yuan[0], "sy0", UI_Graph_Change, 7, _Interactive_data->aim_fire == 0 ? UI_Color_Yellow : UI_Color_Main, 2, 960, 540, 80); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_shoot_yuan[0]); _Interactive_data->Referee_Interactive_Flag.aim_flag = 0; } diff --git a/modules/super_cap/super_cap.c b/modules/super_cap/super_cap.c index a75d507..ed07413 100644 --- a/modules/super_cap/super_cap.c +++ b/modules/super_cap/super_cap.c @@ -24,6 +24,8 @@ SuperCapInstance *SuperCapInit(SuperCap_Init_Config_s *supercap_config) supercap_config->can_config.can_module_callback = SuperCapRxCallback; super_cap_instance->can_ins = CANRegister(&supercap_config->can_config); + + PIDInit(&super_cap_instance->buffer_pid, &supercap_config->buffer_config_pid); return super_cap_instance; } diff --git a/modules/super_cap/super_cap.h b/modules/super_cap/super_cap.h index 08c6ad7..4f460cf 100644 --- a/modules/super_cap/super_cap.h +++ b/modules/super_cap/super_cap.h @@ -17,9 +17,9 @@ typedef struct /* 超级电容实例 */ typedef struct { - CANInstance *can_ins; // CAN实例 + CANInstance *can_ins; // CAN实例 SuperCap_Msg_s cap_msg; // 超级电容信息 - PIDInstance buffer_pid; // + PIDInstance buffer_pid; // 对缓冲功率进行闭环 } SuperCapInstance; /* 超级电容初始化配置 */ diff --git a/xs.jdebug b/xs.jdebug index 4af9a7d..3f84cd6 100644 --- a/xs.jdebug +++ b/xs.jdebug @@ -33,7 +33,7 @@ void OnProjectLoad (void) { // // User settings // - Edit.SysVar (VAR_HSS_SPEED, FREQ_500_HZ); + Edit.SysVar (VAR_HSS_SPEED, FREQ_200_HZ); Project.SetOSPlugin ("FreeRTOSPlugin_CM4"); File.Open ("$(ProjectDir)/cmake-build-debug/basic_framework.elf"); } diff --git a/xs.jdebug.user b/xs.jdebug.user index 55d9ebe..0c43402 100644 --- a/xs.jdebug.user +++ b/xs.jdebug.user @@ -1,30 +1,25 @@ -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="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 +GraphedExpression="P_max", Color=#e56a6f, Show=0 +OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/xiaojing/application/chassis/chassis.c", Line=243 +OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/xiaojing/application/cmd/robot_cmd.c", Line=396 +OpenDocument="main.c", FilePath="D:/zhandui/cqdm/xiaojing/Src/main.c", Line=65 OpenToolbar="Debug", Floating=0, x=0, y=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 +OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=735, h=499, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=435, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C +OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=1, w=735, h=537, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=581, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=1023, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 +OpenWindow="Timeline", DockArea=RIGHT, x=0, y=0, w=1123, h=1037, 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;822", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="896;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="912;0" +OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=518, 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;126] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" P_max"], ColWidths=[100;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;154;164;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] +TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;244] 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 @@ -42,4 +37,7 @@ 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 WatchedExpression="ui_data", RefreshRate=2, Window=Watched Data 1 -WatchedExpression="Interactive_data", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file +WatchedExpression="Interactive_data", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="chassis_cmd_send", Window=Watched Data 1 +WatchedExpression="P_max", RefreshRate=2, Window=Watched Data 1 +WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1 \ No newline at end of file