Class SmartMotorControllerTelemetry

java.lang.Object

yams.core.telemetry.SmartMotorControllerTelemetry

public class SmartMotorControllerTelemetry
extends Object

Smart motor controller telemetry.

Publishes motor controller state including duty-cycle output voltage, stator/supply current, rotor/mechanism position and velocity, and motor temperature to NetworkTables so that tools such as SmartDashboard, Elastic, and Advantage Scope can consume the data in real time. Tunable fields (PID gains, setpoints, motion-profile limits) are additionally exposed on a separate Tuning table so they can be adjusted without redeploying code.

This class is managed internally by SmartMotorController. You do not normally instantiate it directly; instead call the methods on the motor controller itself:

Basic usage (default NetworkTable path)

// In robotInit() or subsystem constructor:
motor.setupTelemetry();   // publishes under Mechanisms/<motorName>

// In robotPeriodic() or subsystemPeriodic():
motor.updateTelemetry();

Custom NetworkTable path and telemetry config

NetworkTable dataTable   =
NetworkTableInstance.getDefault().getTable("Mechanisms").getSubTable("Shooter"); NetworkTable
tuningTable = NetworkTableInstance.getDefault().getTable("Tuning").getSubTable("Shooter");

motor.setupTelemetry(dataTable, tuningTable);

// In periodic:
motor.updateTelemetry();

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SmartMotorControllerTelemetry.BooleanTelemetryField	Boolean telemetry for SmartMotorControllers
static enum	SmartMotorControllerTelemetry.DoubleTelemetryField	Double telemetry field.

Constructor Summary

Constructors

Constructor	Description
SmartMotorControllerTelemetry()	Create motor controller telemetry, publish it with setupTelemetry(SmartMotorController, NetworkTable, NetworkTable, SmartMotorControllerTelemetryConfig).

Method Summary

Modifier and Type	Method	Description
void	applyTuningValues(SmartMotorController smartMotorController)	Apply the tuning values from NetworkTable to the SmartMotorController
void	close()	Close and unpublish telemetry.
void	publish(SmartMotorController smc)	Publish SmartMotorController telemetry to NetworkTable
void	setupTelemetry(SmartMotorController smartMotorController, org.wpilib.networktables.NetworkTable publishTable, org.wpilib.networktables.NetworkTable tuningTable, SmartMotorControllerTelemetryConfig config)	Setup Telemetry Pub/Sub fields.
void	stopTuning(SmartMotorController smartMotorController)	Stop live tuning, as when the "Live Tuning" command ends.
boolean	tuningEnabled()	Whether or not tuning is enabled.

Methods inherited from class Object

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

Constructor Details

SmartMotorControllerTelemetry

public SmartMotorControllerTelemetry()

Create motor controller telemetry, publish it with setupTelemetry(SmartMotorController, NetworkTable, NetworkTable, SmartMotorControllerTelemetryConfig).

Method Details

setupTelemetry

public void setupTelemetry(SmartMotorController smartMotorController,
 org.wpilib.networktables.NetworkTable publishTable,
 org.wpilib.networktables.NetworkTable tuningTable,
 SmartMotorControllerTelemetryConfig config)

Setup Telemetry Pub/Sub fields.

Parameters:

smartMotorController - SmartMotorController used to determine what telemetry features can and should be disabled bc they are not available.

publishTable - NetworkTable that holds all of the output fields.

tuningTable - NetworkTable that holds all of the tuning fields.

config - SmartMotorControllerTelemetryConfig to apply.

publish

public void publish(SmartMotorController smc)

Publish SmartMotorController telemetry to NetworkTable

Parameters:

smc - Smart motor controller to publish telemetry for.

applyTuningValues

public void applyTuningValues(SmartMotorController smartMotorController)

Apply the tuning values from NetworkTable to the SmartMotorController

Parameters:

smartMotorController - SmartMotorController to control.

Throws:

SmartMotorControllerConfigurationException - if the controller's control mode is not CLOSED_LOOP.

SmartMotorControllerConfigurationException - if the underlying motor controller implementation rejects a tuned gain (for example, a gain applied while slot 3 is active on a TalonFX).

SmartMotorControllerConfigurationException - if the underlying motor controller implementation rejects an unsupported vendor control request when applying a setpoint or slot.

IllegalArgumentException - if the tuned closed loop controller slot is not supported by the underlying motor controller implementation (for example, slot 3 on a TalonFX or TalonFXS).

stopTuning

public void stopTuning(SmartMotorController smartMotorController)

Stop live tuning, as when the "Live Tuning" command ends. A tuning voltage stops and the closed loop controller holds the setpoint again. The voltage is turned off in the Tuning table too, so it is not applied again as soon as live tuning starts again.

Parameters:

smartMotorController - SmartMotorController being tuned.

close

public void close()

Close and unpublish telemetry.

tuningEnabled

public boolean tuningEnabled()

Whether or not tuning is enabled.

Returns:

Checks if SmartMotorControllerTelemetry.DoubleTelemetryField.TunableSetpointPosition or SmartMotorControllerTelemetry.DoubleTelemetryField.TunableSetpointVelocity are enabled.