Robobot and MATLAB

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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 shown below with a sample time of 2ms. The column explanation is at the top.

%% 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

This Matlab script uses the data for 2 plots, one for line following for the full buffer and the other a specific set of line sensor values.

%% Line follow plot
close all
clear
%% load
%  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)
dd_15 = load('aaa_bode_15.txt'); % Kp = 0.8 % with lead 1.0 - 0.15 - step
dd_16 = load('aaa_bode_16.txt'); % Kp = 0.5 % with lead 0.8 - 0.15 - step
%%
dd = dd_16;
fig = 100000 + 100 * 16;
%% control
h = figure(fig);
hold off
plot(dd(:,1), dd(:,2))
hold on
plot(dd(:,1), dd(:,3))
% line
plot(dd(:,1), dd(:,13))
plot(dd(:,1), dd(:,11))
plot(dd(:,1), dd(:,6))
legend('left V', 'right V', 'line valid','line pos','turnrate')
xlabel('sec');
grid on
saveas(h,"bode_set_16_line_follow.png")
%% detection
n = 720;
h = figure(fig + 1);
hold off
nn = 1:8
plot(nn, dd(n,15:22),'r')
hold on
for (j = n:n+10)
    plot(nn, dd(j,15:22),'r')
    x = dd(j, 11) + 4;
    plot([x,x], [700, 1000],'r')
end
n = 124
for (j = n:n+10)
    plot(nn, dd(j,15:22),'b')
    x = dd(j, 11) + 4;
    plot([x,x], [700, 1000],'b')
end
grid on
xlabel('sensor number')
ylabel('Normalized sensor value')
title('Two positions (124,720), notice varying floor level.')
saveas(h,"bode_set_a6_720_124.png")

The first part is to load the data. The second part is a way to determine figure numbers. Then the two analysis plots.

The first plot is to see the effect of line control (hand tuned).

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