yams::telemetry Namespace Reference

Classes
class	BooleanTelemetry
class	DoubleTelemetry
class	MechanismTelemetry
class	SmartMotorControllerTelemetry
class	SmartMotorControllerTelemetryConfig
class	StructArrayTelemetry
class	StructTelemetry
class	SwerveDriveTelemetry
class	SwerveDriveTelemetryConfig
class	SwerveModuleTelemetry
class	SwerveModuleTelemetryConfig
struct	UnsupportedTelemetryFields

Enumerations
enum class	DoubleTelemetryField {   ExponentialProfileKV , ExponentialProfileKA , ExponentialProfileMaxInput , TrapezoidalProfileMaxVelocity ,   TrapezoidalProfileMaxAcceleration , TrapezoidalProfileMaxJerk , TunableClosedLoopControllerSlot , ActiveClosedLoopControllerSlot ,   kS , kV , kA , kG ,   kP , kI , kD , TunableSetpointPosition ,   SetpointPosition , TunableSetpointVelocity , SetpointVelocity , SetpointForce ,   ClosedLoopPeriod , VelocityMeasurementDelay , TunableVoltage , OutputVoltage ,   StatorCurrent , StatorCurrentLimit , SupplyCurrent , SupplyCurrentLimit ,   MotorTemperature , MeasurementPosition , MeasurementVelocity , MeasurementAcceleration ,   MeasurementLowerLimit , MeasurementUpperLimit , MechanismPosition , MechanismVelocity ,   MechanismAcceleration , MechanismLowerLimit , MechanismUpperLimit , RotorPosition ,   RotorVelocity , ExternalEncoderPosition , ExternalEncoderVelocity , ClosedloopRampRate ,   OpenloopRampRate }
enum class	BooleanTelemetryField {   MechanismUpperLimit , MechanismLowerLimit , TemperatureLimit , VelocityControl ,   ElevatorFeedForward , ArmFeedForward , SimpleMotorFeedForward , MotionProfile ,   MotorInversion , EncoderInversion , TunableVoltageEnabled }

Functions
void	EnsureMechanismsTelemetryBackend ()
void	EnsureMechanismsTunableBackend ()
void	EnsureTuningTunableBackend ()

Enumeration Type Documentation

BooleanTelemetryField

enum class yams::telemetry::BooleanTelemetryField

strong

Identifies a boolean-valued telemetry field published by a SmartMotorController.

Enumerator
MechanismUpperLimit	true when the mechanism is at or past its upper angular limit.
MechanismLowerLimit	true when the mechanism is at or past its lower angular limit.
TemperatureLimit	true when the motor temperature has reached the cutoff threshold.
VelocityControl	true when a velocity setpoint is active.
ElevatorFeedForward	true when an elevator feedforward model is configured.
ArmFeedForward	true when an arm feedforward model is configured.
SimpleMotorFeedForward	true when a simple motor feedforward model is configured.
MotionProfile	true when a motion profile (trapezoidal or exponential) is active.
MotorInversion	true when the motor output direction is inverted (tunable).
EncoderInversion	true when the encoder count direction is inverted (tunable).
TunableVoltageEnabled	Drive the motor and its loosely coupled followers at TunableVoltage instead of the closed-loop controller while on (tunable).

DoubleTelemetryField

enum class yams::telemetry::DoubleTelemetryField

strong

Identifies a double-valued telemetry field published by a SmartMotorController.

Enumerator
ExponentialProfileKV	Exponential profile kV constant (tunable).
ExponentialProfileKA	Exponential profile kA constant (tunable).
ExponentialProfileMaxInput	Exponential profile maximum input voltage (tunable).
TrapezoidalProfileMaxVelocity	Trapezoidal profile max velocity RPM or m/s (tunable).
TrapezoidalProfileMaxAcceleration	Trapezoidal profile max acceleration RPM/s or m/s² (tunable).
TrapezoidalProfileMaxJerk	Trapezoidal profile max jerk RPM/s² (tunable).
TunableClosedLoopControllerSlot	Live-tunable closed-loop gain slot selector.
ActiveClosedLoopControllerSlot	Currently active closed-loop gain slot (read-only).
kS	Static friction feedforward gain kS (tunable).
kV	Velocity feedforward gain kV (tunable).
kA	Acceleration feedforward gain kA (tunable).
kG	Gravity feedforward gain kG (tunable).
kP	Proportional feedback gain kP (tunable).
kI	Integral feedback gain kI (tunable).
kD	Derivative feedback gain kD (tunable).
TunableSetpointPosition	Live-tunable position setpoint degrees or meters.
SetpointPosition	Read-only position setpoint rotations or meters.
TunableSetpointVelocity	Live-tunable velocity setpoint RPM or m/s.
SetpointVelocity	Read-only velocity setpoint RPS or m/s.
SetpointForce	Feedforward force applied on the velocity setpoint (N).
ClosedLoopPeriod	Period the closed-loop controller runs at (s).
VelocityMeasurementDelay	How far behind the measured velocity is, when known (s).
TunableVoltage	Voltage applied to the motor and its loosely coupled followers, without the closed-loop controller, while TunableVoltageEnabled is on (V, tunable).
OutputVoltage	Voltage currently applied to the motor (V).
StatorCurrent	Stator (output) current draw (A).
StatorCurrentLimit	Configured stator current limit (A, tunable).
SupplyCurrent	Supply (input) current draw (A).
SupplyCurrentLimit	Configured supply current limit (A, tunable).
MotorTemperature	Motor controller temperature (°F).
MeasurementPosition	Linear measurement position (m).
MeasurementVelocity	Linear measurement velocity (m/s).
MeasurementAcceleration	Linear measurement acceleration (m/s²).
MeasurementLowerLimit	Configured lower linear soft limit (m, tunable).
MeasurementUpperLimit	Configured upper linear soft limit (m, tunable).
MechanismPosition	Mechanism position in rotations.
MechanismVelocity	Mechanism velocity in rotations per second.
MechanismAcceleration	Mechanism acceleration in rotations per second squared.
MechanismLowerLimit	Configured lower angular soft limit (degrees, tunable).
MechanismUpperLimit	Configured upper angular soft limit (degrees, tunable).
RotorPosition	Raw rotor position in rotations.
RotorVelocity	Raw rotor velocity in rotations per second.
ExternalEncoderPosition	External encoder's mechanism position in rotations, only with an external encoder.
ExternalEncoderVelocity	External encoder's mechanism velocity in rotations per second, only with an external encoder.
ClosedloopRampRate	Closed-loop duty-cycle ramp rate (s, tunable).
OpenloopRampRate	Open-loop duty-cycle ramp rate (s, tunable).

Function Documentation

EnsureMechanismsTelemetryBackend()

void yams::telemetry::EnsureMechanismsTelemetryBackend ( )

inline

Registers TelemetryRegistry and TunableRegistry backends that publish directly under the Mechanisms and Tuning NetworkTables roots – the same roots MechanismTelemetry and SmartMotorControllerTelemetry already publish raw NetworkTables data to – instead of the default /Telemetry and /Tunables roots. This keeps dashboard-facing widgets (Mechanism2d, Field2d, on-dashboard commands) in the same NetworkTables subtree as the rest of a mechanism's telemetry/tuning data. Ensure a TelemetryRegistry backend is registered at /Mechanisms that publishes directly to that NetworkTables root, for TelemetryLoggable objects such as Mechanism2d.

EnsureMechanismsTunableBackend()

void yams::telemetry::EnsureMechanismsTunableBackend ( )

inline

Ensure a TunableRegistry backend is registered at /Mechanisms that publishes directly to that NetworkTables root, for ComplexTunable objects such as Field2d or on-dashboard Commands.

EnsureTuningTunableBackend()

void yams::telemetry::EnsureTuningTunableBackend ( )

inline

Ensure a TunableRegistry backend is registered at /Tuning that publishes directly to that NetworkTables root, for ComplexTunable on-dashboard Commands such as the Live Tuning command.