yams::telemetry::SwerveDriveTelemetryConfig Class Reference

#include <SwerveDriveTelemetryConfig.hpp>

Public Types
enum class	StructTelemetryField { Pose , DesiredRobotRelativeChassisSpeeds , CurrentRobotRelativeChassisSpeeds , FieldRelativeChassisSpeeds }
enum class	StructArrayTelemetryField { DesiredModuleStates , CurrentModuleStates }
enum class	DoubleTelemetryField {   TranslationP , TranslationI , TranslationD , RotationP ,   RotationI , RotationD , AutoAlignPoseX , AutoAlignPoseY ,   AutoAlignPoseRotation , ModulesDriveP , ModulesDriveI , ModulesDriveD ,   ModulesDriveKs , ModulesDriveKv , ModulesDriveKa , ModulesDriveVelocity ,   ModulesDriveVoltage , ModulesAzimuthP , ModulesAzimuthI , ModulesAzimuthD ,   ModulesAzimuthKs , ModulesAzimuthKv , ModulesAzimuthKa , ModulesAzimuthAngle ,   ModulesAzimuthVoltage , Gyro }
enum class	BooleanTelemetryField {   AutoAlignEnabled , ModulesDriveTuningEnabled , ModulesDriveInPlace , ModulesDriveVoltageEnabled ,   ModulesAzimuthTuningEnabled , ModulesAzimuthVoltageEnabled }
using	TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

Public Member Functions
	SwerveDriveTelemetryConfig ()
	SwerveDriveTelemetryConfig (TelemetryVerbosity verbosity)
SwerveDriveTelemetryConfig &	WithDataLogName (const std::string &dataLogName)
SwerveDriveTelemetryConfig &	WithNetworkTables (bool enabled)
SwerveDriveTelemetryConfig &	WithoutNetworkTables ()
SwerveDriveTelemetryConfig &	WithTelemetryVerbosity (TelemetryVerbosity verbosity)
SwerveDriveTelemetryConfig &	WithPose ()
SwerveDriveTelemetryConfig &	WithGyro ()
SwerveDriveTelemetryConfig &	WithDesiredRobotRelativeChassisSpeeds ()
SwerveDriveTelemetryConfig &	WithCurrentRobotRelativeChassisSpeeds ()
SwerveDriveTelemetryConfig &	WithFieldRelativeChassisSpeeds ()
SwerveDriveTelemetryConfig &	WithDesiredModuleStates ()
SwerveDriveTelemetryConfig &	WithCurrentModuleStates ()
std::optional< std::string >	GetDataLogName () const
bool	GetNT4Enabled () const
std::unordered_map< DoubleTelemetryField, DoubleTelemetry< DoubleTelemetryField > > &	GetDoubleFields ()
std::unordered_map< BooleanTelemetryField, BooleanTelemetry< BooleanTelemetryField > > &	GetBoolFields ()
std::unordered_map< StructTelemetryField, StructTelemetry< wpi::math::Pose2d, StructTelemetryField > > &	GetPoseFields ()
std::unordered_map< StructTelemetryField, StructTelemetry< wpi::math::ChassisVelocities, StructTelemetryField > > &	GetChassisSpeedsFields ()
std::unordered_map< StructArrayTelemetryField, StructArrayTelemetry< wpi::math::SwerveModuleVelocity, StructArrayTelemetryField > > &	GetModuleStatesFields ()
SwerveDriveTelemetryConfig &	WithCustom (DoubleTelemetryField field, bool value)
SwerveDriveTelemetryConfig &	WithCustom (StructTelemetryField field, bool value)
SwerveDriveTelemetryConfig &	WithCustom (StructArrayTelemetryField field, bool value)
SwerveDriveTelemetryConfig &	WithCustom (BooleanTelemetryField field, bool value)
SwerveDriveTelemetryConfig &	WithCustom (const std::vector< DoubleTelemetryField > &fields, bool value)
SwerveDriveTelemetryConfig &	WithCustom (const std::vector< StructTelemetryField > &fields, bool value)
SwerveDriveTelemetryConfig &	WithCustom (const std::vector< StructArrayTelemetryField > &fields, bool value)
SwerveDriveTelemetryConfig &	WithCustom (const std::vector< BooleanTelemetryField > &fields, bool value)

Detailed Description

Swerve drive telemetry configuration.

Use this builder to select exactly which fields are published to NetworkTables and/or DataLog. Every field is disabled by default; call the individual With*() methods to opt in, or use WithTelemetryVerbosity() to enable a predefined set.

The field enums are owned by this class (rather than by SwerveDriveTelemetry) so that this config header has no dependency on SwerveDriveTelemetry.hpp; SwerveDriveTelemetry re-exposes them via type aliases for API parity.

Example

SwerveDriveTelemetryConfig telemetryCfg =
    SwerveDriveTelemetryConfig()
        .WithTelemetryVerbosity(TelemetryVerbosity::HIGH)
        .WithPose()
        .WithGyro()
        .WithCurrentRobotRelativeChassisSpeeds()
        .WithFieldRelativeChassisSpeeds()
        .WithDesiredRobotRelativeChassisSpeeds()
        .WithDesiredModuleStates()
        .WithCurrentModuleStates()
        .WithoutNetworkTables()
        .WithDataLogName("swerve");

Member Typedef Documentation

TelemetryVerbosity

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

Member Enumeration Documentation

BooleanTelemetryField

enum class yams::telemetry::SwerveDriveTelemetryConfig::BooleanTelemetryField

strong

Boolean telemetry field for a SwerveDrive.

Enumerator
AutoAlignEnabled	Enables or disables driving to the auto-align target pose.
ModulesDriveTuningEnabled	Enables or disables live tuning of every module's drive motor PID gains and velocity setpoint.
ModulesDriveInPlace	When enabled ensures drive testing is done with all modules oriented so the swerve drive will drive counter-clockwise positive.
ModulesDriveVoltageEnabled	While drive tuning is on, drive every module's drive motor at ModulesDriveVoltage instead of the velocity setpoint, without its closed-loop controller, as for characterizing it.
ModulesAzimuthTuningEnabled	Enables or disables live tuning of every module's azimuth motor PID gains and angle setpoint.
ModulesAzimuthVoltageEnabled	While azimuth tuning is on, turn every module's azimuth motor at ModulesAzimuthVoltage instead of the angle setpoint, without its closed-loop controller, as for characterizing it.

DoubleTelemetryField

enum class yams::telemetry::SwerveDriveTelemetryConfig::DoubleTelemetryField

strong

Double telemetry field for a SwerveDrive.

Enumerator
TranslationP	Translational proportional gain for auto-aligning the robot.
TranslationI	Translational integral gain for auto-aligning the robot.
TranslationD	Translational derivative gain for auto-aligning the robot.
RotationP	Rotational proportional gain for auto-aligning the robot.
RotationI	Rotational integral gain for auto-aligning the robot.
RotationD	Rotational derivative gain for auto-aligning the robot.
AutoAlignPoseX	X position of the auto-align target pose, in meters.
AutoAlignPoseY	Y position of the auto-align target pose, in meters.
AutoAlignPoseRotation	Rotation of the auto-align target pose, in degrees.
ModulesDriveP	Proportional gain for tuning every module's drive motor closed-loop controller.
ModulesDriveI	Integral gain for tuning every module's drive motor closed-loop controller.
ModulesDriveD	Derivative gain for tuning every module's drive motor closed-loop controller.
ModulesDriveKs	Static feedforward gain for tuning every module's drive motor.
ModulesDriveKv	Velocity feedforward gain for tuning every module's drive motor.
ModulesDriveKa	Acceleration feedforward gain for tuning every module's drive motor.
ModulesDriveVelocity	Tunable velocity setpoint applied to every module's drive motor, in meters per second.
ModulesDriveVoltage	Tunable voltage applied to every module's drive motor, without its closed-loop controller, while ModulesDriveVoltageEnabled is on.
ModulesAzimuthP	Proportional gain for tuning every module's azimuth motor closed-loop controller.
ModulesAzimuthI	Integral gain for tuning every module's azimuth motor closed-loop controller.
ModulesAzimuthD	Derivative gain for tuning every module's azimuth motor closed-loop controller.
ModulesAzimuthKs	Static feedforward gain for tuning every module's azimuth motor.
ModulesAzimuthKv	Velocity feedforward gain for tuning every module's azimuth motor.
ModulesAzimuthKa	Acceleration feedforward gain for tuning every module's azimuth motor.
ModulesAzimuthAngle	Tunable angle setpoint applied to every module's azimuth motor, in degrees.
ModulesAzimuthVoltage	Tunable voltage applied to every module's azimuth motor, without its closed-loop controller, while ModulesAzimuthVoltageEnabled is on.
Gyro	Gyro angle, in degrees.

StructArrayTelemetryField

enum class yams::telemetry::SwerveDriveTelemetryConfig::StructArrayTelemetryField

strong

Struct array telemetry field for a SwerveDrive, backed by wpi::math::SwerveModuleVelocity.

Enumerator
DesiredModuleStates	Last-commanded desired module states.
CurrentModuleStates	Measured module states.

StructTelemetryField

enum class yams::telemetry::SwerveDriveTelemetryConfig::StructTelemetryField

strong

Struct telemetry field for a SwerveDrive, backed by wpi::math::Pose2d.

Enumerator
Pose	Estimated field-relative pose of the robot.
DesiredRobotRelativeChassisSpeeds	Last-commanded desired robot-relative chassis speeds.
CurrentRobotRelativeChassisSpeeds	Measured robot-relative chassis speeds.
FieldRelativeChassisSpeeds	Measured field-relative chassis speeds.

Constructor & Destructor Documentation

SwerveDriveTelemetryConfig() [1/2]

yams::telemetry::SwerveDriveTelemetryConfig::SwerveDriveTelemetryConfig

(

)

SwerveDriveTelemetryConfig() [2/2]

yams::telemetry::SwerveDriveTelemetryConfig::SwerveDriveTelemetryConfig ( TelemetryVerbosity  verbosity )

explicit

Construct with a verbosity preset.

Parameters

verbosity

TelemetryVerbosity to use by default.

Member Function Documentation

GetBoolFields()

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

(

)

Returns

Configured BooleanTelemetry for each BooleanTelemetryField.

GetChassisSpeedsFields()

std::unordered_map< StructTelemetryField, StructTelemetry< wpi::math::ChassisVelocities, StructTelemetryField > > & yams::telemetry::SwerveDriveTelemetryConfig::GetChassisSpeedsFields

(

)

Returns

Configured StructTelemetry<ChassisSpeeds> for the chassis speeds fields.

GetDataLogName()

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

(

)

const

Returns

Optional DataLog entry name.

GetDoubleFields()

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

(

)

Returns

Configured DoubleTelemetry for each DoubleTelemetryField.

GetModuleStatesFields()

std::unordered_map< StructArrayTelemetryField, StructArrayTelemetry< wpi::math::SwerveModuleVelocity, StructArrayTelemetryField > > & yams::telemetry::SwerveDriveTelemetryConfig::GetModuleStatesFields

(

)

Returns

Configured StructArrayTelemetry<SwerveModuleState> for the module state fields.

GetNT4Enabled()

bool yams::telemetry::SwerveDriveTelemetryConfig::GetNT4Enabled

(

)

const

Returns

true if NT4 output is enabled.

GetPoseFields()

std::unordered_map< StructTelemetryField, StructTelemetry< wpi::math::Pose2d, StructTelemetryField > > & yams::telemetry::SwerveDriveTelemetryConfig::GetPoseFields

(

)

Returns

Configured StructTelemetry<Pose2d> for Pose.

WithCurrentModuleStates()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithCurrentModuleStates

(

)

Enables the measured module states logging.

WithCurrentRobotRelativeChassisSpeeds()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithCurrentRobotRelativeChassisSpeeds

(

)

Enables the measured robot relative chassis speeds logging.

WithCustom() [1/8]

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithCustom	(	BooleanTelemetryField	field,
		bool	value
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

WithCustom() [2/8]

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

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

WithCustom() [3/8]

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

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

WithCustom() [4/8]

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithCustom	(	const std::vector< StructArrayTelemetryField > &	fields,
		bool	value
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

WithCustom() [5/8]

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithCustom	(	const std::vector< StructTelemetryField > &	fields,
		bool	value
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

WithCustom() [6/8]

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithCustom	(	DoubleTelemetryField	field,
		bool	value
	)

Escape hatch for unimplemented fields which should be enabled or disabled.

Parameters

field	Field to configure.
value	Enable on true, disable on false.

Returns

*this for chaining.

WithCustom() [7/8]

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithCustom	(	StructArrayTelemetryField	field,
		bool	value
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

WithCustom() [8/8]

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithCustom	(	StructTelemetryField	field,
		bool	value
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

WithDataLogName()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithDataLogName

(

const std::string &

dataLogName

)

Set up a DataLog entry for this drive.

Parameters

dataLogName

DataLog entry name.

Returns

*this for chaining.

WithDesiredModuleStates()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithDesiredModuleStates

(

)

Enables the last-commanded desired module states logging.

WithDesiredRobotRelativeChassisSpeeds()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithDesiredRobotRelativeChassisSpeeds

(

)

Enables the last-commanded desired robot relative chassis speeds logging.

WithFieldRelativeChassisSpeeds()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithFieldRelativeChassisSpeeds

(

)

Enables the measured field relative chassis speeds logging.

WithGyro()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithGyro

(

)

Enables the gyro angle logging.

Returns

*this for chaining.

WithNetworkTables()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithNetworkTables

(

bool

enabled

)

Enable or disable NT4 telemetry. This will not create NT4 entries and is generally only advisable during competition matches.

Parameters

enabled

true to enable NT4 output.

Returns

*this for chaining.

WithoutNetworkTables()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithoutNetworkTables

(

)

Disable NetworkTable output.

Returns

*this for chaining.

WithPose()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithPose

(

)

Enables the pose logging.

Returns

*this for chaining.

WithTelemetryVerbosity()

SwerveDriveTelemetryConfig & yams::telemetry::SwerveDriveTelemetryConfig::WithTelemetryVerbosity

(

TelemetryVerbosity

verbosity

)

Enable a preset bundle of fields based on verbosity level.

Parameters

verbosity

Verbosity level to apply.

Returns

*this for chaining.

---

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

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