Robobot and MATLAB - Revision history

Jca: /* Teensy logfiles */

2026-01-20T13:46:54Z

Teensy logfiles

← Older revision		Revision as of 15:46, 20 January 2026
Line 106:		Line 106:
	[[file:bode_set_16_line_follow.png \| 600px]]		[[file:bode_set_16_line_follow.png \| 600px]]

	The second plot shows the sensor values for a 4cm wide white tape line at different points on the path.		The second plot shows the sensor values for a 4cm wide white tape line at different points along the path.

	[[file:bode_set_a6_720_124.png \| 600px]]		[[file:bode_set_a6_720_124.png \| 600px]]

	The vertical lines are the estimated line position.		The vertical lines are the estimated line position using a centre-of-gravity method.

	== Teensy interface ==		== Teensy interface ==

	== Matlab ==		== Matlab ==

Jca: /* Teensy logfiles */

2025-02-02T13:01:35Z

Teensy logfiles

← Older revision		Revision as of 15:01, 2 February 2025
Line 9:		Line 9:
	* analyze situations (possibly also for debugging).		* analyze situations (possibly also for debugging).

	=== Teensy logfiles ===		== Teensy logfiles ==

	The Teensy code can comment log data in RAM. This is the fastest possible log file, but it has a limited length; 250kbytes are reserved for this.		The Teensy code can comment log data in RAM. This is the fastest possible log file, but it has a limited length; 250kbytes are reserved for this.

Jca: /* Teensy interface */

2025-02-02T13:01:21Z

Teensy interface

← Older revision		Revision as of 15:01, 2 February 2025
Line 112:		Line 112:
	The vertical lines are the estimated line position.		The vertical lines are the estimated line position.

	=== Teensy interface ===		== Teensy interface ==

	== Matlab ==		== Matlab ==

Jca: /* Teensy logfiles */

2025-02-02T13:00:52Z

Teensy logfiles

← Older revision		Revision as of 15:00, 2 February 2025
Line 102:		Line 102:
	Then the two analysis plots.		Then the two analysis plots.

	The first plot ~~is to see~~ the effect of line control (hand tuned).		The first plot shows the effect of line control (hand-tuned). It shows the detected line position (purple) and the two motor voltages that are a consequence of the line-follow controller. In addition, the turn rate is included (green).

	[[file:bode_set_16_line_follow.png \| 600px]]		[[file:bode_set_16_line_follow.png \| 600px]]

	The second plot ~~is see~~ the sensor values for a 4cm wide white tape line at different ~~places~~ on the path.		The second plot shows the sensor values for a 4cm wide white tape line at different points on the path.

	[[file:bode_set_a6_720_124.png \| 600px]]		[[file:bode_set_a6_720_124.png \| 600px]]

			The vertical lines are the estimated line position.

	=== Teensy interface ===		=== Teensy interface ===

	== Matlab ==		== Matlab ==

Jca: /* Teensy logfiles */

2025-02-02T12:57:02Z

Teensy logfiles

@@ Line 13: / Line 13: @@
 The Teensy code can comment log data in RAM. This is the fastest possible log file, but it has a limited length; 250kbytes are reserved for this.
-An example is
+An example is shown below with a sample time of 2ms. The column explanation is at the top.
   %% finished demo 1
@@ Line 41: / Line 41: @@
 .1300 7.38 -3.38 0.8556 -0.4010 -5.3472 0.0039 -0.0002 -0.08764 3.13112 2.31 2.31 1 0 618 579 560 583 786 975 899 740  1 1 1 0.72 0 20 11.66
 .1320 7.52 -3.52 0.9004 -0.3869 -5.4777 0.0045 -0.0002 -0.09879 3.13295 2.38 2.38 1 0 615 586 565 575 775 957 918 743  1 1 1 0.72 0 20 11.69
 .1340 7.35 -3.35 0.9178 -0.3764 -5.5073 0.0050 -0.0003 -0.10995 3.13508 2.34 2.34 1 0 613 584 575 591 792 967 900 753  1 1 1 0.72 0 20 11.70
 == Matlab ==

Jca: /* Matlab */

2025-02-02T12:47:59Z

Matlab

← Older revision		Revision as of 14:47, 2 February 2025
Line 1:		Line 1:
	Back to [[Robobot_B \| Robobot]]		Back to [[Robobot_B \| Robobot]]

			== Logfiles ==

			Many of the Robobot parts can generate log files.

			Logfiles are important to
			* debug code and design
			* analyze situations (possibly also for debugging).

			=== Teensy logfiles ===

			The Teensy code can comment log data in RAM. This is the fastest possible log file, but it has a limited length; 250kbytes are reserved for this.

			An example is

			%% finished demo 1
			% 1 time 0.0000 sec, from Bode (122)
			% 2 3 Motor voltage (V) left, right: 0.00 0.00
			% 4 5 Wheel velocity (m/s) left, right: -0.0000 0.0000
			% 6 Turnrate (rad/s): 0.0000
			% 7 8 9 10 Pose x,y,h,tilt (m,m,rad,rad): 0.0000 0.0000 0.0000 3.1256
			% 11 .. 29 Edge sensor: left pos, right pos, line valid, crossing, values d d d d d d d d, white, used, LED high, average white, line detect count, crossing detect count
			% 30 Battery voltage (12.02 V)
			0.0000 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.12557 0.00 0.00 0 0 0 0 0 0 0 0 0 0 1 1 1 0.00 0 0 12.02
			0.0020 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.12554 0.00 0.00 1 0 720 624 613 672 768 830 870 941 1 1 1 0.76 0 1 12.01
			0.0040 0.00 0.00 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.12551 2.76 2.76 1 0 640 600 583 609 748 871 881 830 1 1 1 0.72 0 2 12.02
			...
			0.1060 8.12 -4.12 -0.0000 0.0000 0.0000 0.0000 0.0000 0.00000 3.12551 2.31 2.31 1 0 613 586 572 573 778 982 916 728 1 1 1 0.72 0 20 11.95
			0.1080 7.95 -3.95 -0.0000 0.0000 0.0000 0.0002 -0.0000 -0.00159 3.12552 2.27 2.27 1 0 618 583 579 563 786 987 917 721 1 1 1 0.72 0 20 11.70
			0.1100 7.98 -3.98 -0.0000 0.0000 0.0000 0.0004 -0.0000 -0.00319 3.12543 2.30 2.30 1 0 623 574 579 571 788 980 914 734 1 1 1 0.72 0 20 11.53
			0.1120 8.01 -4.01 -0.0000 0.0000 0.0000 0.0006 -0.0000 -0.00797 3.12500 2.34 2.34 1 0 626 579 575 587 785 967 924 738 1 1 1 0.72 0 20 11.47
			0.1140 7.90 -3.90 0.3420 0.0000 -1.4553 0.0011 -0.0000 -0.01275 3.12490 2.32 2.32 1 0 618 588 581 603 786 983 910 741 1 1 1 0.73 0 20 11.45
			0.1160 7.93 -3.93 0.5213 0.0000 -2.2184 0.0013 -0.0000 -0.02071 3.12555 2.36 2.36 1 0 618 583 581 588 793 984 907 760 1 1 1 0.73 0 20 11.50
			0.1180 7.77 -3.77 0.6019 -0.1235 -3.0867 0.0015 -0.0000 -0.02868 3.12641 2.32 2.32 1 0 621 596 584 587 796 998 920 747 1 1 1 0.73 0 20 11.53
			0.1200 7.78 -3.78 0.6689 -0.3611 -4.3826 0.0019 -0.0000 -0.03824 3.12722 2.35 2.35 1 0 632 599 590 592 782 975 921 741 1 1 1 0.73 0 20 11.56
			0.1220 7.64 -3.64 0.7130 -0.4086 -4.7726 0.0022 -0.0000 -0.04780 3.12773 2.32 2.32 1 0 629 585 575 591 773 980 912 728 1 1 1 0.72 0 20 11.59
			0.1240 7.53 -3.53 0.7425 -0.4177 -4.9369 0.0026 -0.0001 -0.05736 3.12796 2.30 2.30 1 0 611 586 571 597 773 975 903 725 1 1 1 0.72 0 20 11.62
			0.1260 7.82 -3.82 0.7666 -0.4193 -5.0463 0.0030 -0.0001 -0.06693 3.12845 2.43 2.43 1 0 613 585 572 585 757 965 912 749 1 1 1 0.72 0 20 11.64
			0.1280 7.56 -3.56 0.8042 -0.4161 -5.1927 0.0034 -0.0001 -0.07649 3.12959 2.35 2.35 1 0 610 573 570 589 773 978 907 741 1 1 1 0.72 0 20 11.65
			0.1300 7.38 -3.38 0.8556 -0.4010 -5.3472 0.0039 -0.0002 -0.08764 3.13112 2.31 2.31 1 0 618 579 560 583 786 975 899 740 1 1 1 0.72 0 20 11.66
			0.1320 7.52 -3.52 0.9004 -0.3869 -5.4777 0.0045 -0.0002 -0.09879 3.13295 2.38 2.38 1 0 615 586 565 575 775 957 918 743 1 1 1 0.72 0 20 11.69
			0.1340 7.35 -3.35 0.9178 -0.3764 -5.5073 0.0050 -0.0003 -0.10995 3.13508 2.34 2.34 1 0 613 584 575 591 792 967 900 753 1 1 1 0.72 0 20 11.70

	== Matlab ==		== Matlab ==

	~~Logfile~~

Jca: Created page with "Back to Robobot == Matlab == Logfile"

2025-02-02T12:41:27Z

Created page with "Back to Robobot == Matlab == Logfile"

New page

Back to [[Robobot_B | Robobot]]

== Matlab ==

Logfile