Rhdlog

The rhdlog plugin can simply start and stop logging of all RHD variables to a text file

read variables

rhdlogging is 0 when not logging (default) and 1 when logging

write variables

rhdloginterval default is 0, i.e. not logging. set to 1..N for saving a set og log data every N RHD sample times.

logfile

The file generated is in the default directory (where RHD were started).

You must have write access right to this directory, else nothing is logged.

The file format is like the sample shown below, the first part is a list of logged variables - should be removed for MATLAB import.

1382602368.413287 2013-10-24 10:12:48.413
# symbols: index r/w length name
1 t 1 timestamp
2 r 1 tick
3 r 1 rhdlogging
4 r 5 servoPos
9 r 5 servoMin
14 r 5 servoMax
19 r 5 servoVel
24 r 5 servoLoad
29 r 5 servoVolt
34 r 5 servoTemp
39 r 5 servoComErr
44 r 5 servoIntRef
49 r 5 servoIntPos
54 r 5 servoUpdCnt
59 w 1 rhdloginterval
60 w 5 servoref
1382602368.413 9587 1 6 0 0 6 5 -1098 -1799 -1799 -1107 -439 1098 1799 1799 1089 527 0 0 0 0 0 48 0 0 56 48 95 0 0  94 96 36 0 0 37 37 0 0 0 0 0 2450 0 0 2560 800 2457 0 0 2567 806 16663 0 0 16663 16663 1 0 0 0 0 0  
1382602368.423 9588 1 6 0 0 6 6 -1098 -1799 -1799 -1107 -439 1098 1799 1799 1089 527 0 0 0 0 0 48 0 0 56 56 95 0 0 94 97 36 0 0 37 37 0 0 0 0 0 2450 0 0 2560 800 2457 0 0 2567 807 16664 0 0 16664 16664 1 0 0 0 0 0 
1382602368.433 9589 1 6 0 0 6 5 -1098 -1799 -1799 -1107 -439 1098 1799 1799 1089 527 0 0 0 0 0 48 0 0 56 48 95 0 0 94 97 36 0 0 37 37 0 0 0 0 0 2450 0 0 2560 800 2457 0 0 2567 806 16666 0 0 16666 16666 1 0 0 0 0 0 
1382602368.443 9590 1 6 0 0 6 6 -1098 -1799 -1799 -1107 -439 1098 1799 1799 1089 527 0 0 0 0 0 48 0 0 56 56 95 0 0 94 97 36 0 0 37 37 0 0 0 0 0 2450 0 0 2560 800 2457 0 0 2567 807 16668 0 0 16668 16668 1 0 0 0 0 0 
1382602368.453 9591 1 6 0 0 6 6 -1098 -1799 -1799 -1107 -439 1098 1799 1799 1089 527 0 0 0 0 0 48 0 0 56 56 95 0 0 94 97 36 0 0 37 37 0 0 0 0 0 2450 0 0 2560 800 2457 0 0 2567 807 16669 0 0 16669 16669 1 0 0 0 0 0 
1382602368.463 9592 1 6 0 0 6 6 -1098 -1799 -1799 -1107 -439 1098 1799 1799 1089 527 0 0 0 0 0 48 0 0 56 56 95 0 0 94 97 36 0 0 37 37 0 0 0 0 0 2450 0 0 2560 800 2457 0 0 2567 807 16671 0 0 16671 16671 1 0 0 0 0 0 
1382602368.473 9593 1 6 0 0 6 5 -1098 -1799 -1799 -1107 -439 1098 1799 1799 1089 527 0 0 0 0 0 48 0 0 56 48 95 0 0 94 97 36 0 0 37 37 0 0 0 0 0 2450 0 0 2560 800 2457 0 0 2567 806 16673 0 0 16673 16673 1 0 0 0 0 0