yams::telemetry::SwerveModuleTelemetryConfig Class Reference

#include <SwerveModuleTelemetryConfig.hpp>

Public Types
enum class	DoubleTelemetryField { AbsoluteEncoder }
enum class	StructTelemetryField { State }
using	TelemetryVerbosity = motorcontrollers::SmartMotorControllerConfig::TelemetryVerbosity

Public Member Functions
	SwerveModuleTelemetryConfig ()
	SwerveModuleTelemetryConfig (TelemetryVerbosity verbosity)
SwerveModuleTelemetryConfig &	WithDataLogName (const std::string &dataLogName)
SwerveModuleTelemetryConfig &	WithNetworkTables (bool enabled)
SwerveModuleTelemetryConfig &	WithoutNetworkTables ()
SwerveModuleTelemetryConfig &	WithTelemetryVerbosity (TelemetryVerbosity verbosity)
SwerveModuleTelemetryConfig &	WithAbsoluteEncoder ()
SwerveModuleTelemetryConfig &	WithState ()
std::optional< std::string >	GetDataLogName () const
bool	GetNT4Enabled () const
std::unordered_map< DoubleTelemetryField, DoubleTelemetry< DoubleTelemetryField > > &	GetDoubleFields ()
std::unordered_map< StructTelemetryField, StructTelemetry< wpi::math::SwerveModuleVelocity, StructTelemetryField > > &	GetStructFields ()
SwerveModuleTelemetryConfig &	WithCustom (DoubleTelemetryField field, bool value)
SwerveModuleTelemetryConfig &	WithCustom (StructTelemetryField field, bool value)
SwerveModuleTelemetryConfig &	WithCustom (const std::vector< DoubleTelemetryField > &fields, bool value)
SwerveModuleTelemetryConfig &	WithCustom (const std::vector< StructTelemetryField > &fields, bool value)

Detailed Description

Swerve module 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.

Example

SwerveModuleTelemetryConfig telemetryCfg =
    SwerveModuleTelemetryConfig()
        .WithTelemetryVerbosity(TelemetryVerbosity::HIGH)
        .WithAbsoluteEncoder()
        .WithState()
        .WithoutNetworkTables()
        .WithDataLogName("swerve/modules/frontleft");

Member Typedef Documentation

TelemetryVerbosity

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

Member Enumeration Documentation

DoubleTelemetryField

enum class yams::telemetry::SwerveModuleTelemetryConfig::DoubleTelemetryField

strong

Double telemetry field for a SwerveModule.

Enumerator
AbsoluteEncoder	Absolute encoder angle, without offsets applied, in degrees.

StructTelemetryField

enum class yams::telemetry::SwerveModuleTelemetryConfig::StructTelemetryField

strong

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

Enumerator
State	Measured SwerveModuleState of the module.

Constructor & Destructor Documentation

SwerveModuleTelemetryConfig() [1/2]

yams::telemetry::SwerveModuleTelemetryConfig::SwerveModuleTelemetryConfig

(

)

SwerveModuleTelemetryConfig() [2/2]

yams::telemetry::SwerveModuleTelemetryConfig::SwerveModuleTelemetryConfig ( TelemetryVerbosity  verbosity )

explicit

Construct with a verbosity preset.

Parameters

verbosity

TelemetryVerbosity to use by default.

Member Function Documentation

GetDataLogName()

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

(

)

const

Returns

Optional DataLog entry name.

GetDoubleFields()

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

(

)

Returns

Configured DoubleTelemetry for each DoubleTelemetryField.

GetNT4Enabled()

bool yams::telemetry::SwerveModuleTelemetryConfig::GetNT4Enabled

(

)

const

Returns

true if NT4 output is enabled.

GetStructFields()

std::unordered_map< StructTelemetryField, StructTelemetry< wpi::math::SwerveModuleVelocity, StructTelemetryField > > & yams::telemetry::SwerveModuleTelemetryConfig::GetStructFields

(

)

Returns

Configured StructTelemetry<SwerveModuleState> for each StructTelemetryField.

WithAbsoluteEncoder()

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::WithAbsoluteEncoder

(

)

Enables the absolute encoder angle logging.

Returns

*this for chaining.

WithCustom() [1/4]

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::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() [2/4]

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::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() [3/4]

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::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() [4/4]

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::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()

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::WithDataLogName

(

const std::string &

dataLogName

)

Set up a DataLog entry for this module.

Parameters

dataLogName

DataLog entry name.

Returns

*this for chaining.

WithNetworkTables()

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::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()

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::WithoutNetworkTables

(

)

Disable NetworkTable output.

Returns

*this for chaining.

WithState()

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::WithState

(

)

Enables the SwerveModuleState logging.

Returns

*this for chaining.

WithTelemetryVerbosity()

SwerveModuleTelemetryConfig & yams::telemetry::SwerveModuleTelemetryConfig::WithTelemetryVerbosity

(

TelemetryVerbosity

verbosity

)

Enable a preset bundle of fields based on verbosity level.

Parameters

verbosity

Verbosity level to apply.

Returns

*this for chaining.

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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/SwerveModuleTelemetryConfig.hpp