Class SwerveInputStreamTelemetry

java.lang.Object

yams.commands2.telemetry.SwerveInputStreamTelemetry

All Implemented Interfaces:

AutoCloseable

public class SwerveInputStreamTelemetry
extends Object
implements AutoCloseable

Telemetry and live tuning for a SwerveInputStream, created by SwerveInputStream.withTelemetry(String, TelemetryVerbosity) and published every time the stream is read.

• TelemetryVerbosity.LOW: the current drive mode, under SwerveInputStream/<name>.
• TelemetryVerbosity.MID: also the stream's configuration (deadband, scales, maximum velocities, cubing, alliance and robot relative), read-only.
• TelemetryVerbosity.HIGH: also editable copies of the configuration under Tuning/SwerveInputStream/<name>, and a Live Tuning command there that applies them to the stream every loop while it runs.

While live tuning, values stay in sync both ways: a dashboard edit is applied to the stream, and a change made in code, e.g. a binding that changes the translation scale, is published to the dashboard. Invalid dashboard values are replaced with the stream's current value.

Constructor Summary

Constructors

Constructor	Description
SwerveInputStreamTelemetry(SwerveInputStream stream, String name, TelemetryVerbosity verbosity)	Publish telemetry for a SwerveInputStream.

Method Summary

Modifier and Type	Method	Description
void	applyTuningValues()	Apply values edited on the dashboard to the stream, and publish changes made to the stream in code.
void	close()	Stop publishing this stream's telemetry, canceling and removing the Live Tuning command.
Optional<org.wpilib.command2.Command>	getLiveTuningCommand()	The Live Tuning command published to the dashboard, which applies dashboard edits while it runs.
void	updateTelemetry()	Publish the stream's current mode and, at TelemetryVerbosity.MID and above, its configuration.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SwerveInputStreamTelemetry

public SwerveInputStreamTelemetry(SwerveInputStream stream,
 String name,
 TelemetryVerbosity verbosity)

Publish telemetry for a SwerveInputStream. Use SwerveInputStream.withTelemetry(String, TelemetryVerbosity) rather than calling this directly.

Parameters:

stream - The SwerveInputStream to monitor and tune.

name - Name of the stream in NetworkTables (e.g., "drive").

verbosity - TelemetryVerbosity to publish at.

Method Details

updateTelemetry

public void updateTelemetry()

Publish the stream's current mode and, at TelemetryVerbosity.MID and above, its configuration. Called by SwerveInputStream.get().

applyTuningValues

public void applyTuningValues()

Apply values edited on the dashboard to the stream, and publish changes made to the stream in code. The Live Tuning command calls this every loop. Does nothing below TelemetryVerbosity.HIGH.

getLiveTuningCommand

public Optional<org.wpilib.command2.Command> getLiveTuningCommand()

The Live Tuning command published to the dashboard, which applies dashboard edits while it runs.

Returns:

The command at TelemetryVerbosity.HIGH, otherwise empty.

close

public void close()

Stop publishing this stream's telemetry, canceling and removing the Live Tuning command.

Specified by:

close in interface AutoCloseable