完善

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；
+//    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;
+//        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);

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;
+            chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
-            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 (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
+//    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
-    {
+//    {
-        case 0:
+//        case 0:
-            chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
+//            loader_flag = 0;
-            break;
+//            break;
-        default:
+//        case 1:
-            chassis_cmd_send.chassis_mode = CHASSIS_SIDEWAYS;
+//            loader_flag = 1;
-            break;
+//            break;
-    }
+//        default:
-    switch (rc_data[TEMP].key_count[KEY_PRESS][Key_G] % 3) // G键切换发射模式
+//            loader_flag = 3;
-    {
+//            break;
-        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;
     }

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)

modules/referee/referee_task.c

@@ -81,7 +81,7 @@ void MyUIInit()
     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);
+//    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], "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);
+//    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]);
+//    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);
+//    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]);
+//    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;
     }

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;
 }
 

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 */

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");
 }

xs.jdebug.user

@@ -1,30 +1,25 @@
 
 
-OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=65
+GraphedExpression="P_max", Color=#e56a6f, Show=0
-OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=120
+OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/xiaojing/application/chassis/chassis.c", Line=243
-OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/referee/referee_task.c", Line=251
+OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/xiaojing/application/cmd/robot_cmd.c", Line=396
-OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418
+OpenDocument="main.c", FilePath="D:/zhandui/cqdm/xiaojing/Src/main.c", Line=65
-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=506, 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=490, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x30A3D70C
+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=550, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+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=1023, h=384, 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=1151, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=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=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="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=213, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=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 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;100;100;100;110;126;126]
+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
+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