Class SwerveModuleTelemetryConfig

java.lang.Object
yams.core.telemetry.SwerveModuleTelemetryConfig
public class SwerveModuleTelemetryConfig extends Object
Swerve module 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

SwerveModuleTelemetryConfig telemetryCfg =
    new SwerveModuleTelemetryConfig()
        // choose a verbosity preset (LOW / MID / HIGH), or enable fields individually below
        .withTelemetryVerbosity(TelemetryVerbosity.HIGH)
        .withAbsoluteEncoder()
        .withState()
        // disable NT4 output (e.g. during competition) and log to DataLog instead
        .withoutNetworkTables()
        .withDataLogName("swerve/modules/frontleft");