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Adapt regression to signals

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This commit is contained in:
Ryan Brott
2023-03-06 22:50:07 -08:00
parent 332704b536
commit db869f3e01
3 changed files with 24 additions and 16 deletions
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14
TeamCode/src/main/assets/tuning/drive-encoder-angular-ramp.html
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@ -62,23 +62,23 @@ details, a {
<script>
function loadRegression(data) {
const leftEncVels = data.leftEncVels.map((vs, i) =>
fixVels(data.encTimes.slice(0, -1), data.leftEncPositions[i].slice(0, -1), vs.slice(0, -1)));
fixVels(vs.times.slice(0, -1), data.leftEncPositions[i].values.slice(0, -1), vs.values.slice(0, -1)));
const rightEncVels = data.rightEncVels.map((vs, i) =>
fixVels(data.encTimes.slice(0, -1), data.rightEncPositions[i].slice(0, -1), vs.slice(0, -1)));
fixVels(vs.times.slice(0, -1), data.rightEncPositions[i].values.slice(0, -1), vs.values.slice(0, -1)));
newLinearRegressionChart(
document.getElementById('rampChart'),
[
...leftEncVels.flatMap(vs => vs.slice(0, -1).map(v => -v)),
...rightEncVels.flatMap(vs => vs.slice(0, -1)),
...leftEncVels.flatMap(vs => vs.values.slice(0, -1).map(v => -v)),
...rightEncVels.flatMap(vs => vs.values.slice(0, -1)),
],
[
...data.leftPowers.flatMap(ps => {
const psNew = ps.slice(0, -1).map((p, i) => -p * data.voltages[i]);
const psNew = ps.values.slice(0, -1).map((p, i) => -p * data.voltages.values[i]);
return psNew.slice(1, -1);
}),
...data.rightPowers.flatMap(ps => {
const psNew = ps.slice(0, -1).map((p, i) => p * data.voltages[i]);
const psNew = ps.values.slice(0, -1).map((p, i) => p * data.voltages.values[i]);
return psNew.slice(1, -1);
}),
],
@ -86,7 +86,7 @@ function loadRegression(data) {
);
const p = data.angVels.reduce((acc, vsArg) => {
const vs = fixAngVels(vsArg).map(v => Math.abs(v));
const vs = fixAngVels(vsArg.values).map(v => Math.abs(v));
const maxV = vs.reduce((acc, v) => Math.max(acc, v), 0);
const [accMaxV, _] = acc;
if (maxV >= accMaxV) {