yams::telemetry::SwerveDriveTelemetry Class Reference

#include <SwerveDriveTelemetry.hpp>

Public Types
using	DoubleTelemetryField = SwerveDriveTelemetryConfig::DoubleTelemetryField
using	BooleanTelemetryField = SwerveDriveTelemetryConfig::BooleanTelemetryField
using	StructTelemetryField = SwerveDriveTelemetryConfig::StructTelemetryField
using	StructArrayTelemetryField = SwerveDriveTelemetryConfig::StructArrayTelemetryField

Public Member Functions
	SwerveDriveTelemetry (SwerveDriveTelemetryConfig config)
template<std::size_t NumModules>
void	SetupTelemetry (mechanisms::swerve::SwerveDrive< NumModules > *drive)
template<std::size_t NumModules>
void	Publish (mechanisms::swerve::SwerveDrive< NumModules > *drive)
template<std::size_t NumModules>
void	ApplyTuningValues (mechanisms::swerve::SwerveDrive< NumModules > *drive)
template<std::size_t NumModules>
void	StopTuning (mechanisms::swerve::SwerveDrive< NumModules > *drive)
void	Close ()

Detailed Description

Swerve drive telemetry.

Publishes pose, chassis speeds, gyro angle, and module states to NetworkTables and/or a WPILib DataLog, and exposes auto-align (DriveToPose) PID gains plus a live-tunable target pose for on-the-fly tuning. Also drives per-module telemetry setup via SwerveModule::SetupTelemetry().

SetupTelemetry(), Publish(), and ApplyTuningValues() are templated on the SwerveDrive's module count so that this class itself does not need to be templated; their bodies are defined at the bottom of SwerveDrive.hpp (after SwerveDrive<NumModules> is fully defined), which is the only place both this class's members and SwerveDrive<NumModules>'s interface are simultaneously complete.

This class is managed internally by SwerveDrive. You do not normally instantiate it directly; instead configure telemetry through SwerveDriveConfig::WithTelemetry(...).

Member Typedef Documentation

BooleanTelemetryField

using yams::telemetry::SwerveDriveTelemetry::BooleanTelemetryField = SwerveDriveTelemetryConfig::BooleanTelemetryField

DoubleTelemetryField

using yams::telemetry::SwerveDriveTelemetry::DoubleTelemetryField = SwerveDriveTelemetryConfig::DoubleTelemetryField

StructArrayTelemetryField

using yams::telemetry::SwerveDriveTelemetry::StructArrayTelemetryField = SwerveDriveTelemetryConfig::StructArrayTelemetryField

StructTelemetryField

using yams::telemetry::SwerveDriveTelemetry::StructTelemetryField = SwerveDriveTelemetryConfig::StructTelemetryField

Constructor & Destructor Documentation

SwerveDriveTelemetry()

yams::telemetry::SwerveDriveTelemetry::SwerveDriveTelemetry ( SwerveDriveTelemetryConfig  config )

explicit

Create SwerveDrive telemetry for logging in NetworkTables and DataLog.

Parameters

config

Telemetry configuration selecting which fields to publish.

Member Function Documentation

ApplyTuningValues()

template<std::size_t NumModules>

void yams::telemetry::SwerveDriveTelemetry::ApplyTuningValues

(

mechanisms::swerve::SwerveDrive< NumModules > *

drive

)

Apply the tuning values from NetworkTables to the drive.

Parameters

drive

Drive to control.

Close()

void yams::telemetry::SwerveDriveTelemetry::Close

(

)

Release all NT4 pub/sub handles.

Publish()

template<std::size_t NumModules>

void yams::telemetry::SwerveDriveTelemetry::Publish

(

mechanisms::swerve::SwerveDrive< NumModules > *

drive

)

Publish telemetry to NetworkTables and DataLog.

Parameters

drive

Drive to publish telemetry from.

SetupTelemetry()

template<std::size_t NumModules>

void yams::telemetry::SwerveDriveTelemetry::SetupTelemetry

(

mechanisms::swerve::SwerveDrive< NumModules > *

drive

)

Setup telemetry for the drive; also sets up telemetry for each module.

Parameters

drive

Drive to set up telemetry for.

StopTuning()

template<std::size_t NumModules>

void yams::telemetry::SwerveDriveTelemetry::StopTuning

(

mechanisms::swerve::SwerveDrive< NumModules > *

drive

)

Stop applying a tuning voltage, as when the tuning command ends, and hold every wheel still where it is with its closed-loop controller.

Parameters

drive

Drive being tuned.

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/telemetry/SwerveDriveTelemetry.hpp
• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/swerve/SwerveDrive.hpp