yams::telemetry::SmartMotorControllerTelemetry Class Reference

#include <SmartMotorControllerTelemetry.hpp>

Public Member Functions
void	SetupTelemetry (motorcontrollers::SmartMotorController &smc, std::shared_ptr< wpi::nt::NetworkTable > publishTable, std::shared_ptr< wpi::nt::NetworkTable > tuningTable, std::unordered_map< DoubleTelemetryField, DoubleTelemetry< DoubleTelemetryField > > &doubleFields, std::unordered_map< BooleanTelemetryField, BooleanTelemetry< BooleanTelemetryField > > &boolFields, bool nt4Enabled, std::optional< std::string > dataLogName)
void	Publish (motorcontrollers::SmartMotorController &smc)
void	ApplyTuningValues (motorcontrollers::SmartMotorController &smc)
void	StopTuning (motorcontrollers::SmartMotorController &smc)
bool	TuningEnabled () const
void	Close ()

Detailed Description

Telemetry coordinator for a SmartMotorController.

Owns all DoubleTelemetry and BooleanTelemetry pub/sub handles. Call SetupTelemetry() once during initialization, then Publish() and ApplyTuningValues() each loop.

Member Function Documentation

ApplyTuningValues()

void yams::telemetry::SmartMotorControllerTelemetry::ApplyTuningValues

(

motorcontrollers::SmartMotorController &

smc

)

Read tunable fields from NetworkTables and apply changed values to smc.

Parameters

smc	Motor controller to tune.

Close()

void yams::telemetry::SmartMotorControllerTelemetry::Close

(

)

Release all NT4 pub/sub handles.

Publish()

void yams::telemetry::SmartMotorControllerTelemetry::Publish

(

motorcontrollers::SmartMotorController &

smc

)

Publish current motor controller state to NetworkTables / DataLog.

Parameters

smc	Motor controller to read from.

SetupTelemetry()

void yams::telemetry::SmartMotorControllerTelemetry::SetupTelemetry	(	motorcontrollers::SmartMotorController &	smc,
		std::shared_ptr< wpi::nt::NetworkTable >	publishTable,
		std::shared_ptr< wpi::nt::NetworkTable >	tuningTable,
		std::unordered_map< DoubleTelemetryField, DoubleTelemetry< DoubleTelemetryField > > &	doubleFields,
		std::unordered_map< BooleanTelemetryField, BooleanTelemetry< BooleanTelemetryField > > &	boolFields,
		bool	nt4Enabled,
		std::optional< std::string >	dataLogName
	)

Initialize telemetry pub/sub using the supplied tables and config.

Parameters

smc	Motor controller whose fields drive which entries are enabled.
publishTable	NT4 table for read-only sensor data.
tuningTable	NT4 table for live-tunable gains.
doubleFields	Configured DoubleTelemetry map from SmartMotorControllerTelemetryConfig.
boolFields	Configured BooleanTelemetry map from SmartMotorControllerTelemetryConfig.
nt4Enabled	Whether to publish to NT4.
dataLogName	Optional DataLog prefix.

StopTuning()

void yams::telemetry::SmartMotorControllerTelemetry::StopTuning

(

motorcontrollers::SmartMotorController &

smc

)

Stop live tuning, as when the "Live Tuning" command ends. A tuning voltage stops and the closed-loop controller holds the setpoint again. The voltage is turned off in the Tuning table too, so it is not applied again as soon as live tuning starts again.

Parameters

smc	SmartMotorController being tuned.

TuningEnabled()

bool yams::telemetry::SmartMotorControllerTelemetry::TuningEnabled

(

)

const

True if any live-setpoint tuning fields are enabled.

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/telemetry/SmartMotorControllerTelemetry.hpp