yams::telemetry::SwerveModuleTelemetry Class Reference

#include <SwerveModuleTelemetry.hpp>

Public Types
using	DoubleTelemetryField = SwerveModuleTelemetryConfig::DoubleTelemetryField
using	StructTelemetryField = SwerveModuleTelemetryConfig::StructTelemetryField

Public Member Functions
	SwerveModuleTelemetry (SwerveModuleTelemetryConfig config)
void	SetupTelemetry (const std::string &mechName, mechanisms::swerve::SwerveModule &module)
void	Publish (mechanisms::swerve::SwerveModule &module)
void	Close ()

Detailed Description

Swerve module telemetry.

Publishes the module's raw absolute encoder angle (without offsets applied) and current SwerveModuleState to NetworkTables and/or a WPILib DataLog, and wires the drive/azimuth SmartMotorControllers' own telemetry under the same module subtable.

This class is managed internally by SwerveModule. You do not normally instantiate it directly; instead configure telemetry through SwerveModuleConfig::WithTelemetry(name, SwerveModuleTelemetryConfig) or SwerveModuleConfig::WithTelemetry(name, TelemetryVerbosity) before constructing the module.

Member Typedef Documentation

DoubleTelemetryField

using yams::telemetry::SwerveModuleTelemetry::DoubleTelemetryField = SwerveModuleTelemetryConfig::DoubleTelemetryField

StructTelemetryField

using yams::telemetry::SwerveModuleTelemetry::StructTelemetryField = SwerveModuleTelemetryConfig::StructTelemetryField

Constructor & Destructor Documentation

SwerveModuleTelemetry()

yams::telemetry::SwerveModuleTelemetry::SwerveModuleTelemetry ( SwerveModuleTelemetryConfig  config )

explicit

Create SwerveModule telemetry for logging in NetworkTables and DataLog.

Parameters

config

Telemetry configuration selecting which fields to publish.

Member Function Documentation

Close()

void yams::telemetry::SwerveModuleTelemetry::Close

(

)

Release all NT4 pub/sub handles.

Publish()

void yams::telemetry::SwerveModuleTelemetry::Publish

(

mechanisms::swerve::SwerveModule &

module

)

Publish telemetry to NetworkTables and DataLog.

Parameters

module

Module to publish telemetry from.

SetupTelemetry()

void yams::telemetry::SwerveModuleTelemetry::SetupTelemetry	(	const std::string &	mechName,
		mechanisms::swerve::SwerveModule &	module
	)

Setup telemetry for the module.

Parameters

mechName	Telemetry name of the parent SwerveDrive.
module	Module to use for telemetry.

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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/SwerveModuleTelemetry.hpp