Package yams.telemetry

Class SmartMotorControllerTelemetry

java.lang.Object

yams.telemetry.SmartMotorControllerTelemetry

public class SmartMotorControllerTelemetry
extends Object

Smart motor controller telemetry.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SmartMotorControllerTelemetry.BooleanTelemetryField	Boolean telemetry for SmartMotorControllers
static enum	SmartMotorControllerTelemetry.DoubleTelemetryField	Double telemetry field.

Constructor Summary

Constructors

Constructor	Description
SmartMotorControllerTelemetry()

Method Summary

Modifier and Type	Method	Description
void	applyTuningValues(SmartMotorController smartMotorController)	Apply the tuning values from NetworkTable to the SmartMotorController
void	close()	Close and unpublish telemetry.
void	publish(SmartMotorController smc)	Publish SmartMotorController telemetry to NetworkTable
void	setupTelemetry(SmartMotorController smartMotorController, NetworkTable publishTable, NetworkTable tuningTable, SmartMotorControllerTelemetryConfig config)	Setup Telemetry Pub/Sub fields.
boolean	tuningEnabled()	Whether or not tuning is enabled.

Methods inherited from class java.lang.Object

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

Constructor Details

SmartMotorControllerTelemetry

public SmartMotorControllerTelemetry()

Method Details

setupTelemetry

public void setupTelemetry(SmartMotorController smartMotorController,
 NetworkTable publishTable,
 NetworkTable tuningTable,
 SmartMotorControllerTelemetryConfig config)

Setup Telemetry Pub/Sub fields.

Parameters:

smartMotorController - SmartMotorController used to determine what telemetry features can and should be disabled bc they are not available.

publishTable - NetworkTable that holds all of the output fields.

tuningTable - NetworkTable that holds all of the tuning fields.

config - SmartMotorControllerTelemetryConfig to apply.

publish

public void publish(SmartMotorController smc)

Publish SmartMotorController telemetry to NetworkTable

Parameters:

smc - Smart motor controller to publish telemetry for.

applyTuningValues

public void applyTuningValues(SmartMotorController smartMotorController)

Apply the tuning values from NetworkTable to the SmartMotorController

Parameters:

smartMotorController - SmartMotorController to control.

close

public void close()

Close and unpublish telemetry.

tuningEnabled

public boolean tuningEnabled()

Whether or not tuning is enabled.

Returns:

Checks if SmartMotorControllerTelemetry.DoubleTelemetryField.TunableSetpointPosition or SmartMotorControllerTelemetry.DoubleTelemetryField.TunableSetpointVelocity are enabled.