Class SwerveDriveTelemetry

java.lang.Object

yams.core.telemetry.SwerveDriveTelemetry

public class SwerveDriveTelemetry
extends Object

Publishes SwerveDrive telemetry to NetworkTables and DataLog, and applies live tuning values.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SwerveDriveTelemetry.BooleanTelemetryField	Boolean telemetry field for SwerveDrives.
static enum	SwerveDriveTelemetry.DoubleTelemetryField	Double telemetry field for SwerveDrives.
static enum	SwerveDriveTelemetry.StructArrayTelemetryField	Struct array telemetry field for SwerveDrives.
static enum	SwerveDriveTelemetry.StructTelemetryField	Struct telemetry field for SwerveDrives.

Constructor Summary

Constructors

Constructor	Description
SwerveDriveTelemetry(SwerveDriveTelemetryConfig config)	Create SwerveDrive telemetry for logging in NetworkTables and DataLog.

Method Summary

Modifier and Type	Method	Description
void	applyTuningValues(SwerveDrive drive)	Apply the tuning values from NetworkTable to the SwerveDrive
void	close()	Close and unpublish telemetry.
void	publish(SwerveDrive drive)	Publish telemetry to NetworkTables and DataLog
void	setupTelemetry(SwerveDrive drive)	Setup telemetry for the drive.
void	stopTuning(SwerveDrive drive)	Stop applying a tuning voltage, as when the tuning command ends, and hold every wheel still where it is with its closed loop controller.

Methods inherited from class Object

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

Constructor Details

SwerveDriveTelemetry

public SwerveDriveTelemetry(SwerveDriveTelemetryConfig config)

Create SwerveDrive telemetry for logging in NetworkTables and DataLog.

Parameters:

config - SwerveDriveTelemetryConfig selecting what to publish.

Method Details

setupTelemetry

public void setupTelemetry(SwerveDrive drive)

Setup telemetry for the drive.

Parameters:

drive - SwerveDrive to use for telemetry.

publish

public void publish(SwerveDrive drive)

Publish telemetry to NetworkTables and DataLog

Parameters:

drive - SwerveDrive to publish telemetry from.

applyTuningValues

public void applyTuningValues(SwerveDrive drive)

Apply the tuning values from NetworkTable to the SwerveDrive

Parameters:

drive - SwerveDrive to control.

Throws:

IllegalStateException - if auto-align is enabled and a gyro angular velocity scale factor is configured with SwerveDriveConfig.withGyroAngularVelocityScaleFactor(double) but no gyro supplier was set with SwerveDriveConfig.withGyro(java.util.function.Supplier).

stopTuning

public void stopTuning(SwerveDrive drive)

Stop applying a tuning voltage, as when the tuning command ends, and hold every wheel still where it is with its closed loop controller.

Parameters:

drive - SwerveDrive being tuned.

close

public void close()

Close and unpublish telemetry.