yams::telemetry::SmartMotorControllerTelemetryConfig Class Reference

#include <SmartMotorControllerTelemetryConfig.hpp>

Public Types
using	TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

Public Member Functions
	SmartMotorControllerTelemetryConfig ()
SmartMotorControllerTelemetryConfig &	WithDataLogName (const std::string &dataLogName)
SmartMotorControllerTelemetryConfig &	WithNetworkTables (bool enabled)
SmartMotorControllerTelemetryConfig &	WithoutNetworkTables ()
SmartMotorControllerTelemetryConfig &	WithTelemetryVerbosity (TelemetryVerbosity verbosity)
SmartMotorControllerTelemetryConfig &	WithMechanismLowerLimit ()
SmartMotorControllerTelemetryConfig &	WithMechanismUpperLimit ()
SmartMotorControllerTelemetryConfig &	WithTemperatureLimit ()
SmartMotorControllerTelemetryConfig &	WithVelocityControl ()
SmartMotorControllerTelemetryConfig &	WithElevatorFeedforward ()
SmartMotorControllerTelemetryConfig &	WithArmFeedforward ()
SmartMotorControllerTelemetryConfig &	WithSimpleFeedforward ()
SmartMotorControllerTelemetryConfig &	WithMotionProfile ()
SmartMotorControllerTelemetryConfig &	WithSetpointPosition ()
SmartMotorControllerTelemetryConfig &	WithSetpointVelocity ()
SmartMotorControllerTelemetryConfig &	WithSetpointForce ()
SmartMotorControllerTelemetryConfig &	WithCustom (DoubleTelemetryField field, bool enabled)
SmartMotorControllerTelemetryConfig &	WithCustom (BooleanTelemetryField field, bool enabled)
SmartMotorControllerTelemetryConfig &	WithCustom (const std::vector< DoubleTelemetryField > &fields, bool enabled)
SmartMotorControllerTelemetryConfig &	WithCustom (const std::vector< BooleanTelemetryField > &fields, bool enabled)
SmartMotorControllerTelemetryConfig &	WithVelocityMeasurementDelay ()
SmartMotorControllerTelemetryConfig &	WithClosedLoopPeriod ()
SmartMotorControllerTelemetryConfig &	WithOutputVoltage ()
SmartMotorControllerTelemetryConfig &	WithStatorCurrent ()
SmartMotorControllerTelemetryConfig &	WithTemperature ()
SmartMotorControllerTelemetryConfig &	WithMeasurementPosition ()
SmartMotorControllerTelemetryConfig &	WithMeasurementVelocity ()
SmartMotorControllerTelemetryConfig &	WithMechanismPosition ()
SmartMotorControllerTelemetryConfig &	WithMechanismVelocity ()
SmartMotorControllerTelemetryConfig &	WithRotorPosition ()
SmartMotorControllerTelemetryConfig &	WithRotorVelocity ()
std::optional< std::string >	GetDataLogName () const
bool	GetNT4Enabled () const
std::unordered_map< DoubleTelemetryField, DoubleTelemetry< DoubleTelemetryField > > &	GetDoubleFields (motorcontrollers::SmartMotorController &smc)
std::unordered_map< BooleanTelemetryField, BooleanTelemetry< BooleanTelemetryField > > &	GetBoolFields (motorcontrollers::SmartMotorController &smc)

Detailed Description

Configures which telemetry fields are published for a SmartMotorController.

Use WithTelemetryVerbosity() for a preset bundle of fields, or enable individual fields with the With*() methods. Pass to SmartMotorController::WithTelemetry().

Quick preset via SmartMotorControllerConfig

// The simplest approach: name the motor in SmartMotorControllerConfig.
// This enables HIGH-verbosity telemetry automatically.
SmartMotorControllerConfig cfg;
cfg.WithTelemetry("ArmMotor");                       // HIGH verbosity (default)
cfg.WithTelemetry("ArmMotor", Cfg::TelemetryVerbosity::MID);  // or choose a level

Fine-grained override via SmartMotorController::WithTelemetry()

// After constructing the SmartMotorController, supply an explicit config
// to override the preset chosen by SmartMotorControllerConfig::WithTelemetry().
using Cfg = yams::motorcontrollers::SmartMotorControllerConfig;
using TelCfg = yams::telemetry::SmartMotorControllerTelemetryConfig;
 
ctre::phoenix6::hardware::TalonFX talon{1};
TalonFXWrapper smc{talon, wpi::math::DCMotor::KrakenX60(1), cfg};
 
smc.WithTelemetry(
    TelCfg{}
        .WithTelemetryVerbosity(Cfg::TelemetryVerbosity::MID)
        .WithMechanismPosition()
        .WithMechanismVelocity()
        .WithStatorCurrent()
        .WithOutputVoltage()
        .WithDataLogName("/Robot/Arm/Motor")
        .WithoutNetworkTables());   // suppress NT4 during matches

Logging-only (no NT4) with a custom field selection

smc.WithTelemetry(
    TelCfg{}
        .WithRotorPosition()
        .WithRotorVelocity()
        .WithTemperature()
        .WithDataLogName("/Robot/Shooter/Motor")
        .WithoutNetworkTables());

Member Typedef Documentation

TelemetryVerbosity

using yams::telemetry::SmartMotorControllerTelemetryConfig::TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

Constructor & Destructor Documentation

SmartMotorControllerTelemetryConfig()

yams::telemetry::SmartMotorControllerTelemetryConfig::SmartMotorControllerTelemetryConfig

(

)

Member Function Documentation

GetBoolFields()

std::unordered_map< BooleanTelemetryField, BooleanTelemetry< BooleanTelemetryField > > & yams::telemetry::SmartMotorControllerTelemetryConfig::GetBoolFields

(

motorcontrollers::SmartMotorController &

smc

)

GetDataLogName()

std::optional< std::string > yams::telemetry::SmartMotorControllerTelemetryConfig::GetDataLogName

(

)

const

Returns

Optional DataLog prefix path if configured.

GetDoubleFields()

std::unordered_map< DoubleTelemetryField, DoubleTelemetry< DoubleTelemetryField > > & yams::telemetry::SmartMotorControllerTelemetryConfig::GetDoubleFields

(

motorcontrollers::SmartMotorController &

smc

)

Apply motor-controller-specific constraints (disable unsupported fields, set default values from config) and return the configured field maps.

Parameters

smc	Motor controller to configure for.

GetNT4Enabled()

bool yams::telemetry::SmartMotorControllerTelemetryConfig::GetNT4Enabled

(

)

const

Returns

true if NT4 output is enabled.

WithArmFeedforward()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithArmFeedforward

(

)

Enable arm feedforward active flag logging.

Returns

*this for chaining.

WithClosedLoopPeriod()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithClosedLoopPeriod

(

)

Enables logging the period the closed-loop controller runs at.

WithCustom() [1/4]

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithCustom	(	BooleanTelemetryField	field,
		bool	enabled
	)

Escape hatch to enable or disable any boolean field.

Parameters

field	Field to configure.
enabled	true to enable, false to disable.

Returns

*this for chaining.

WithCustom() [2/4]

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithCustom	(	const std::vector< BooleanTelemetryField > &	fields,
		bool	enabled
	)

Escape hatch to enable or disable several boolean fields.

Parameters

fields	Fields to configure.
enabled	true to enable, false to disable.

Returns

*this for chaining.

WithCustom() [3/4]

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithCustom	(	const std::vector< DoubleTelemetryField > &	fields,
		bool	enabled
	)

Escape hatch to enable or disable several double fields.

Parameters

fields	Fields to configure.
enabled	true to enable, false to disable.

Returns

*this for chaining.

WithCustom() [4/4]

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithCustom	(	DoubleTelemetryField	field,
		bool	enabled
	)

Escape hatch to enable or disable any double field.

Parameters

field	Field to configure.
enabled	true to enable, false to disable.

Returns

*this for chaining.

WithDataLogName()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithDataLogName

(

const std::string &

dataLogName

)

Set the DataLog prefix for offline recording.

Parameters

dataLogName

Prefix path inside the log.

Returns

*this for chaining.

WithElevatorFeedforward()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithElevatorFeedforward

(

)

Enable elevator feedforward active flag logging.

Returns

*this for chaining.

WithMeasurementPosition()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithMeasurementPosition

(

)

Enable linear measurement position logging.

Returns

*this for chaining.

WithMeasurementVelocity()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithMeasurementVelocity

(

)

Enable linear measurement velocity logging.

Returns

*this for chaining.

WithMechanismLowerLimit()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithMechanismLowerLimit

(

)

Enable mechanism lower-limit logging.

Returns

*this for chaining.

WithMechanismPosition()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithMechanismPosition

(

)

Enable mechanism angular position logging.

Returns

*this for chaining.

WithMechanismUpperLimit()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithMechanismUpperLimit

(

)

Enable mechanism upper-limit logging.

Returns

*this for chaining.

WithMechanismVelocity()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithMechanismVelocity

(

)

Enable mechanism angular velocity logging.

Returns

*this for chaining.

WithMotionProfile()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithMotionProfile

(

)

Enable motion profile active flag logging.

Returns

*this for chaining.

WithNetworkTables()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithNetworkTables

(

bool

enabled

)

Enable or disable NT4 output.

Parameters

enabled

false to suppress NT4 publishing (e.g. during matches).

Returns

*this for chaining.

WithoutNetworkTables()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithoutNetworkTables

(

)

Disable NT4 output.

Returns

*this for chaining.

WithOutputVoltage()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithOutputVoltage

(

)

Enable output voltage logging.

Returns

*this for chaining.

WithRotorPosition()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithRotorPosition

(

)

Enable raw rotor position logging.

Returns

*this for chaining.

WithRotorVelocity()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithRotorVelocity

(

)

Enable raw rotor velocity logging.

Returns

*this for chaining.

WithSetpointForce()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithSetpointForce

(

)

Enable the feedforward force applied on top of the velocity setpoint.

Returns

*this for chaining.

WithSetpointPosition()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithSetpointPosition

(

)

Enable setpoint position logging (read-only).

Returns

*this for chaining.

WithSetpointVelocity()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithSetpointVelocity

(

)

Enable setpoint velocity logging (read-only).

Returns

*this for chaining.

WithSimpleFeedforward()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithSimpleFeedforward

(

)

Enable simple motor feedforward active flag logging.

Returns

*this for chaining.

WithStatorCurrent()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithStatorCurrent

(

)

Enable stator current logging.

Returns

*this for chaining.

WithTelemetryVerbosity()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithTelemetryVerbosity

(

TelemetryVerbosity

verbosity

)

Enable a preset bundle of fields based on verbosity level.

HIGH includes all MID and LOW fields plus tunable gain entries. MID adds voltage and current fields. LOW enables the core position/velocity/setpoint fields.

Parameters

verbosity

Verbosity level to apply.

Returns

*this for chaining.

WithTemperature()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithTemperature

(

)

Enable motor temperature logging.

Returns

*this for chaining.

WithTemperatureLimit()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithTemperatureLimit

(

)

Enable temperature-limit (over-temp flag) logging.

Returns

*this for chaining.

WithVelocityControl()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithVelocityControl

(

)

Enable velocity-control active flag logging.

Returns

*this for chaining.

WithVelocityMeasurementDelay()

SmartMotorControllerTelemetryConfig & yams::telemetry::SmartMotorControllerTelemetryConfig::WithVelocityMeasurementDelay

(

)

Enables logging how far behind the measured velocity is, when it is known.

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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/SmartMotorControllerTelemetryConfig.hpp