Package yams.core.telemetry

package yams.core.telemetry

NetworkTables publishers for mechanism and motor controller state.

This package provides classes that stream live data from YAMS mechanisms and motor controllers to a NetworkTables server, making that data available to dashboard tools (Shuffleboard, AdvantageScope, Glass) and to tuning workflows that adjust PID gains without redeploying code.

Mechanism telemetry

• MechanismTelemetry publishes the high-level state of a mechanism: current position, active setpoint, goal, and status flags. Updated each robot periodic cycle.

Motor controller telemetry

• SmartMotorControllerTelemetryConfig fluent builder that selects which signals to publish and under what NetworkTables keys. Signals include duty cycle, applied voltage, velocity, position, supply current, stator current, and device temperature.
• SmartMotorControllerTelemetry publisher that consumes a SmartMotorControllerTelemetryConfig and writes the selected signals to NetworkTables on every periodic() call.

Lightweight scalar publishers

• BooleanTelemetry lightweight publisher for a single boolean value (e.g. limit switch state, at-setpoint flag).
• DoubleTelemetry lightweight publisher for a single double value (e.g. a raw sensor reading or computed error).

Enabling telemetry

Telemetry is opt-in. Call setupTelemetry() on a SmartMotorController or mechanism instance, passing the desired configuration object, to begin publishing. The call must happen before the first periodic() call (typically in robotInit or the subsystem constructor):

SmartMotorControllerTelemetryConfig telemetryCfg =
    new SmartMotorControllerTelemetryConfig("arm/motor")
        .withVelocity()
        .withPosition()
        .withSupplyCurrent()
        .withTemperature();

motor.setupTelemetry(telemetryCfg);

See Also:

• SmartMotorController

Related Packages

Package	Description
yams.core.telemetry.enums	Enums used to configure YAMS telemetry.

Class	Description
BooleanTelemetry<F>	Boolean Telemetry for SmartMotorControllers.
DoubleTelemetry<F>	Double Telemetry for SmartMotorControllers.
MechanismTelemetry	Mechanism telemetry.
NetworkTablesBackends	Registers TelemetryRegistry and TunableRegistry backends that publish directly under the Mechanisms and Tuning NetworkTables roots so the same roots MechanismTelemetry and SmartMotorControllerTelemetry already publish raw NetworkTables data to instead of the default /Telemetry and /Tunables roots.
SmartMotorControllerTelemetry	Smart motor controller telemetry.
SmartMotorControllerTelemetry.BooleanTelemetryField	Boolean telemetry for SmartMotorControllers
SmartMotorControllerTelemetry.DoubleTelemetryField	Double telemetry field.
SmartMotorControllerTelemetryConfig	Smart motor controller telemetry configuration.
StructArrayTelemetry<T,F>	Struct array Telemetry for arbitrary Struct serializable array types.
StructTelemetry<T,F>	Struct Telemetry for arbitrary Struct serializable types.
SwerveDriveTelemetry	Publishes SwerveDrive telemetry to NetworkTables and DataLog, and applies live tuning values.
SwerveDriveTelemetry.BooleanTelemetryField	Boolean telemetry field for SwerveDrives.
SwerveDriveTelemetry.DoubleTelemetryField	Double telemetry field for SwerveDrives.
SwerveDriveTelemetry.StructArrayTelemetryField	Struct array telemetry field for SwerveDrives.
SwerveDriveTelemetry.StructTelemetryField	Struct telemetry field for SwerveDrives.
SwerveDriveTelemetryConfig	Swerve drive telemetry configuration.
SwerveModuleTelemetry	Swerve module telemetry.
SwerveModuleTelemetry.DoubleTelemetryField	Double telemetry field for SwerveModules.
SwerveModuleTelemetry.StructTelemetryField	Struct telemetry field for SwerveModules.
SwerveModuleTelemetryConfig	Swerve module telemetry configuration.