Displays the Walton Robotics Log files as graphs for simple and quick troubleshooting
PID tuning is hard to do and visualizing what the robot was meant to do compared to what the robot actually did is something that is very helpful for troubleshooting problems. This program is meant to visualise the logs created by Walton Robotics Actually-Simple-Splines repository which includes a custom PID loop and motions that are easy to utilize.
This program allows for the visualization of the:
- actual path the robot took,
- path the robot should have taken,
- actual robot velocity,
- target robot velocity,
- errors:
- lag error: how far off in front or backwards the robot is from its target position
- cross track error: how far off the robot is perpendicularly from its target position
- angle error: how far off the robot is from its target angle in radians
- left and right motor powers
This program also allows you to find some PID constants. PID constants are used to tune the feedback loop in order to make the motion as accurate as possible. Finding the constants usually takes a lot of trial and errors but thanks to this program you can find 3 constants (kV, kK and kAcc).