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Regression improvements

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This commit is contained in:
Ryan Brott
2023-03-02 00:16:35 -08:00
parent 9651735df3
commit 80ea431b29
4 changed files with 119 additions and 61 deletions
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48
TeamCode/src/main/assets/tuning/drive-encoder-angular-ramp.html
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@ -9,6 +9,10 @@ body {
}
.content {
margin: auto;
}
header {
max-width: 600px;
margin: auto;
}
@ -39,48 +43,50 @@ details, a {
</head>
<body>
<div class="content">
<h1>RR Drive Encoder Angular Ramp Regression</h1>
<details></details>
<header>
<h1>RR Drive Encoder Angular Ramp Regression</h1>
<details></details>
<div id="download"></div>
<div id="download"></div>
<div id="rampChart">
<p>
<button id="latest">Latest</button>
<input id="browse" type="file" accept="application/json">
</p>
</div>
</header>
<div id="rampChart"></div>
<div id="trackWidthChart"></div>
</div>
<script>
function loadRegression(data) {
const leftEncVels = data.leftEncVels.map((vs, i) =>
fixVels(data.encTimes, data.leftEncPositions[i], vs));
fixVels(data.encTimes.slice(0, -1), data.leftEncPositions[i].slice(0, -1), vs.slice(0, -1)));
const rightEncVels = data.rightEncVels.map((vs, i) =>
fixVels(data.encTimes, data.rightEncPositions[i], vs));
fixVels(data.encTimes.slice(0, -1), data.rightEncPositions[i].slice(0, -1), vs.slice(0, -1)));
newLinearRegressionChart(
document.getElementById('rampChart'),
[
...leftEncVels.flatMap(vs => vs.map(v => -v)),
...rightEncVels.flatMap(vs => vs),
...leftEncVels.flatMap(vs => vs.slice(0, -1).map(v => -v)),
...rightEncVels.flatMap(vs => vs.slice(0, -1)),
],
[
...data.leftPowers.flatMap(ps => {
const psNew = ps.map((p, i) => -p * data.voltages[i]);
return psNew.slice(1, psNew.length - 1);
const psNew = ps.slice(0, -1).map((p, i) => -p * data.voltages[i]);
return psNew.slice(1, -1);
}),
...data.rightPowers.flatMap(ps => {
const psNew = ps.map((p, i) => p * data.voltages[i]);
return psNew.slice(1, psNew.length - 1);
const psNew = ps.slice(0, -1).map((p, i) => p * data.voltages[i]);
return psNew.slice(1, -1);
}),
],
{title: 'Ramp Regression', slope: 'kV', intercept: 'kS'}
);
const p = data.angVels.reduce((acc, vsArg) => {
const vs = vsArg.map(v => Math.abs(v));
const vs = fixAngVels(vsArg).map(v => Math.abs(v));
const maxV = vs.reduce((acc, v) => Math.max(acc, v), 0);
const [accMaxV, _] = acc;
if (maxV >= accMaxV) {
@ -88,7 +94,7 @@ function loadRegression(data) {
}
return acc;
}, [0, []]);
const angVels = p[1].slice(1, p[1].length - 1);
const angVels = p[1].slice(1, -1);
newLinearRegressionChart(
document.getElementById('trackWidthChart'),
@ -98,7 +104,7 @@ function loadRegression(data) {
+ rightEncVels.reduce((acc, vs) => acc + vs[i], 0) / data.rightEncVels.length)
* (data.type === 'mecanum' ? 0.5 : 1)
),
{title: 'Track Width Regression', slope: 'track width'}
{title: 'Track Width Regression', slope: 'track width', noIntercept: true}
);
}
@ -111,10 +117,12 @@ latestButton.addEventListener('click', function() {
const a = document.createElement('a');
a.innerText = 'Download';
a.href = `/tuning/forward-ramp/${filename}`;
a.download = `forward-ramp-${filename}`;
a.href = `/tuning/angular-ramp/${filename}`;
a.download = `angular-ramp-${filename}`;
document.getElementById('download').appendChild(a);
const download = document.getElementById('download');
download.innerHTML = '';
download.appendChild(a);
return res.json();
} else {