Class SwerveDriveTelemetryConfig

java.lang.Object
yams.core.telemetry.SwerveDriveTelemetryConfig
public class SwerveDriveTelemetryConfig extends Object
Swerve drive 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(TelemetryVerbosity) to enable a predefined set.

Example

SwerveDriveTelemetryConfig telemetryCfg =
    new SwerveDriveTelemetryConfig()
        // choose a verbosity preset (LOW / MID / HIGH), or enable fields individually below
        .withTelemetryVerbosity(TelemetryVerbosity.HIGH)
        // optionally enable individual fields on top of the preset
        .withPose()
        .withGyro()
        .withCurrentRobotRelativeChassisSpeeds()
        .withFieldRelativeChassisSpeeds()
        .withDesiredRobotRelativeChassisSpeeds()
        .withDesiredModuleStates()
        .withCurrentModuleStates()
        // disable NT4 output (e.g. during competition) and log to DataLog instead
        .withoutNetworkTables()
        .withDataLogName("swerve");