yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules > Class Template Reference

#include <SwerveInputStreamTelemetry.hpp>

Public Types
using	TelemetryVerbosity = SwerveDriveConfig::TelemetryVerbosity

Public Member Functions
	SwerveInputStreamTelemetry (SwerveInputStream< NumModules > &stream, std::string_view name, TelemetryVerbosity verbosity)
	SwerveInputStreamTelemetry (const SwerveInputStreamTelemetry &)=delete
SwerveInputStreamTelemetry &	operator= (const SwerveInputStreamTelemetry &)=delete
	~SwerveInputStreamTelemetry ()
void	UpdateTelemetry ()
void	ApplyTuningValues ()
std::optional< std::reference_wrapper< wpi::cmd::Command > >	GetLiveTuningCommand ()

Detailed Description

template<size_t NumModules = 4>
class yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >

Telemetry and live tuning for a SwerveInputStream, created by SwerveInputStream::WithTelemetry(name, verbosity) and published every time the stream is read.

• LOW: the current drive mode, under SwerveInputStream/<name>.
• MEDIUM: also the stream's configuration (deadband, scales, maximum velocities, cubing, alliance and robot relative), read-only.
• HIGH: also editable copies of the configuration under Tuning/SwerveInputStream/<name>, and a "Live Tuning" command there that applies them to the stream every loop while it runs.

While live tuning, values stay in sync both ways: a dashboard edit is applied to the stream, and a change made in code, e.g. a binding that changes the translation scale, is published to the dashboard. Invalid dashboard values are replaced with the stream's current value.

The stream owns its telemetry and creates it when first read, so the telemetry never outlives the stream or follows it to a new address.

Member Typedef Documentation

TelemetryVerbosity

template<size_t NumModules = 4>

using yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >::TelemetryVerbosity = SwerveDriveConfig::TelemetryVerbosity

Constructor & Destructor Documentation

SwerveInputStreamTelemetry() [1/2]

template<size_t NumModules = 4>

yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >::SwerveInputStreamTelemetry ( SwerveInputStream< NumModules > &  stream, std::string_view  name, TelemetryVerbosity  verbosity  )

inline

Publish telemetry for a SwerveInputStream. Use SwerveInputStream::WithTelemetry rather than creating this directly.

Parameters

stream	The SwerveInputStream to monitor and tune. Must outlive this object.
name	Name of the stream in NetworkTables (e.g., "drive").
verbosity	TelemetryVerbosity to publish at.

SwerveInputStreamTelemetry() [2/2]

template<size_t NumModules = 4>

yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >::SwerveInputStreamTelemetry ( const SwerveInputStreamTelemetry< NumModules > &  )

delete

~SwerveInputStreamTelemetry()

template<size_t NumModules = 4>

yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >::~SwerveInputStreamTelemetry ( )

inline

Stop publishing, canceling and removing the "Live Tuning" command.

Member Function Documentation

ApplyTuningValues()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >::ApplyTuningValues ( )

inline

Apply values edited on the dashboard to the stream, and publish changes made to the stream in code. The "Live Tuning" command calls this every loop. Does nothing below HIGH.

GetLiveTuningCommand()

template<size_t NumModules = 4>

std::optional< std::reference_wrapper< wpi::cmd::Command > > yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >::GetLiveTuningCommand ( )

inline

The "Live Tuning" command published to the dashboard, which applies dashboard edits while it runs.

Returns

The command at HIGH, otherwise empty.

operator=()

template<size_t NumModules = 4>

SwerveInputStreamTelemetry & yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >::operator= ( const SwerveInputStreamTelemetry< NumModules > &  )

delete

UpdateTelemetry()

template<size_t NumModules = 4>

void yams::mechanisms::swerve::utility::SwerveInputStreamTelemetry< NumModules >::UpdateTelemetry ( )

inline

Publish the stream's current mode and, at MEDIUM and above, its configuration. Called by SwerveInputStream::Get().

---

The documentation for this class was generated from the following files:

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/swerve/utility/SwerveInputStream.hpp
• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/swerve/utility/SwerveInputStreamTelemetry.hpp