Class SwerveModuleTelemetry

java.lang.Object

yams.core.telemetry.SwerveModuleTelemetry

public class SwerveModuleTelemetry
extends Object

Swerve module telemetry.

Publishes the module's raw absolute encoder angle (without offsets applied) and current SwerveModuleVelocity to NetworkTables and/or a WPILib DataLog, and wires the drive/azimuth SmartMotorControllers' own telemetry under the same module subtable.

This class is managed internally by SwerveModule. You do not normally instantiate it directly; instead configure telemetry through SwerveModuleConfig.withTelemetry(String, SwerveModuleTelemetryConfig) or SwerveModuleConfig.withTelemetry(String, yams.core.telemetry.enums.TelemetryVerbosity) before constructing the module.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SwerveModuleTelemetry.DoubleTelemetryField	Double telemetry field for SwerveModules.
static enum	SwerveModuleTelemetry.StructTelemetryField	Struct telemetry field for SwerveModules.

Constructor Summary

Constructors

Constructor	Description
SwerveModuleTelemetry(SwerveModuleTelemetryConfig config)	Create SwerveModule telemetry for logging in NetworkTables and DataLog.

Method Summary

Modifier and Type	Method	Description
void	close()	Close and unpublish telemetry.
void	publish(SwerveModule module)	Publish telemetry to NetworkTables and DataLog.
void	setupTelemetry(String mechName, SwerveModule module)	Setup telemetry for the module.

Methods inherited from class Object

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

Constructor Details

SwerveModuleTelemetry

public SwerveModuleTelemetry(SwerveModuleTelemetryConfig config)

Create SwerveModule telemetry for logging in NetworkTables and DataLog.

Parameters:

config - SwerveModuleTelemetryConfig to apply.

Method Details

setupTelemetry

public void setupTelemetry(String mechName,
 SwerveModule module)

Setup telemetry for the module.

Parameters:

mechName - Telemetry name of the parent SwerveDrive.

module - SwerveModule to use for telemetry.

publish

public void publish(SwerveModule module)

Publish telemetry to NetworkTables and DataLog.

Parameters:

module - SwerveModule to publish telemetry from.

close

public void close()

Close and unpublish telemetry.