From 097e763fa0f06860acb54f023663f27bd93e580a Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 17 Jan 2024 11:06:43 -0800
Subject: [PATCH] [sysid] Document using AdvantageScope for troubleshooting

Fixes #6187.
---
 sysid/README.md             | 14 ++++++
 sysid/scripts/time_plots.py | 89 -------------------------------------
 2 files changed, 14 insertions(+), 89 deletions(-)
 create mode 100644 sysid/README.md
 delete mode 100755 sysid/scripts/time_plots.py

diff --git a/sysid/README.md b/sysid/README.md
new file mode 100644
index 00000000000..842f3bec684
--- /dev/null
+++ b/sysid/README.md
@@ -0,0 +1,14 @@
+# SysId: System Identification for Robot Mechanisms
+
+## Building and Running SysId
+
+See [here](../README.md#Requirements) for build requirements.
+
+Run the following in the monorepo root.
+```bash
+./gradlew sysid:run
+```
+
+## Troubleshooting
+
+Use [AdvantageScope](https://docs.wpilib.org/en/stable/docs/software/dashboards/advantagescope.html) (shipped with the WPILib installer) to view .wpilog files for troubleshooting when SysId fails to generate plots.
diff --git a/sysid/scripts/time_plots.py b/sysid/scripts/time_plots.py
deleted file mode 100755
index 6878126af2c..00000000000
--- a/sysid/scripts/time_plots.py
+++ /dev/null
@@ -1,89 +0,0 @@
-#!/usr/bin/env python3
-
-import json
-import pathlib
-
-import matplotlib.pyplot as plt
-import pandas as pd
-import sys
-
-# Load data
-filename = pathlib.Path(sys.argv[1])
-
-UNIT_TO_ABBREVIATION = {
-    "Meters": "m",
-    "Feet": "ft",
-    "Inches": "in",
-    "Degrees": "deg",
-    "Rotations": "rot",
-    "Radians": "rad",
-}
-
-# Make DataFrame to facilitate plotting
-if filename.suffix == ".json":
-    raw_data = json.loads(filename.read_text())
-    unit = raw_data["units"]
-
-    # Get Unit
-    try:
-        abbreviation = UNIT_TO_ABBREVIATION[unit]
-    except KeyError:
-        raise ValueError("Invalid Unit")
-
-    # Make Columns
-    columns = ["Timestamp (s)", "Test"]
-    if "Drive" in raw_data["test"]:
-        columns.extend(
-            [
-                "Left Volts (V)",
-                "Right Volts (V)",
-                f"Left Position ({abbreviation})",
-                f"Right Position ({abbreviation})",
-                f"Left Velocity ({abbreviation}/s)",
-                f"Right Velocity ({abbreviation}/s)",
-                "Gyro Position (deg)",
-                "Gyro Rate (deg/s)",
-            ]
-        )
-        unit_columns = columns[4:8]
-    else:
-        columns.extend(
-            ["Volts (V)", f"Position ({abbreviation})", f"Velocity ({abbreviation}/s)"]
-        )
-        unit_columns = columns[3:]
-
-    prepared_data = pd.DataFrame(columns=columns)
-    for test in raw_data.keys():
-        if "-" not in test:
-            continue
-        formatted_entry = [[pt[0], test, *pt[1:]] for pt in raw_data[test]]
-        prepared_data = pd.concat(
-            [prepared_data, pd.DataFrame(formatted_entry, columns=columns)]
-        )
-
-    units_per_rot = raw_data["unitsPerRotation"]
-
-    for column in unit_columns:
-        prepared_data[column] *= units_per_rot
-else:
-    prepared_data = pd.read_csv(filename)
-
-# First 2 columns are Timestamp and Test
-for column in prepared_data.columns[2:]:
-    # Configure Plot Labels
-    plt.figure()
-    plt.xlabel("Timestamp (s)")
-    plt.ylabel(column)
-
-    # Configure title without units
-    print(column)
-    end = column.find("(")
-    plt.title(f"{column[:end].strip()} vs Time")
-
-    # Plot data for each test
-    for test in pd.unique(prepared_data["Test"]):
-        test_data = prepared_data[prepared_data["Test"] == test]
-        plt.plot(test_data["Timestamp (s)"], test_data[column], label=test)
-    plt.legend()
-
-plt.show()