clear all
close all
clc

data = load('kicklog_120521.txt');

%     /* Logged variables:
%      *  - logControl: shoot control motion executable
%      *  - logDutyCycle: duty cycle send from motion to bl_box
%      *  - logState: Shoot state from bl_box
%      *  - logPWM: PWM measurement from blue box
%      *  - logCounterBLBox: counter running on bl_box (0-254) in servo interrup
%      *  - logStatusBLBox: Status ethercat slave bl_box
%      *  - logCheckComInBLBox: Byte send to bl_box to be echo'ed back 
%      *  - logCheckComOutBLBox: Byte echo'ed back from bl_box
%      *  - logWdtBLBox: Watchdog timer on bl_box
%      *  - logTstSys: Time stamp from motion executable (in u_sec)
%      */

figure(1)
subplot(2,1,1)
    plot(data(:,1),'b')
    hold on
    plot(data(:,3),'r')
    hold on
    plot(data(:,6),'k','linewidth',2)
    legend('SHTcontrol','SHTstatus','ECSstatus')
subplot(2,1,2)
    plot(data(:,2)./100,'b')
    hold on
    plot(data(:,4)./5,'r')
    legend('dutycycle','pwm')
    
figure(2)
subplot(2,1,1)
    plot(data(:,5),'b')
    legend('counter Bl_Box')
subplot(2,1,2)
    plot(data(:,7),'b')
    hold on
    plot(data(:,8),'r')
    legend('echo_in','echo_out')


figure(3)
subplot(2,1,1)
    plot(data(:,9),'b')
    legend('wdt')
subplot(2,1,2)
    plot(data(:,10))
    legend('t_st_sys [us]')