Package yams.telemetry

Class SmartMotorControllerTelemetryConfig

java.lang.Object

yams.telemetry.SmartMotorControllerTelemetryConfig

public class SmartMotorControllerTelemetryConfig
extends Object

Smart motor controller telemetry configuration.

Constructor Summary

Constructors

Constructor	Description
SmartMotorControllerTelemetryConfig()

Method Summary

Modifier and Type	Method	Description
Map<SmartMotorControllerTelemetry.BooleanTelemetryField,BooleanTelemetry>	getBoolFields(SmartMotorController smc)	Get the configured bool fields.
Map<SmartMotorControllerTelemetry.DoubleTelemetryField,DoubleTelemetry>	getDoubleFields(SmartMotorController smc)	Get the configured double fields.
SmartMotorControllerTelemetryConfig	withArmFeedforward()	Enables the arm feedforward logging if available.
SmartMotorControllerTelemetryConfig	withElevatorFeedforward()	Enables the elevator feedforward logging if available.
SmartMotorControllerTelemetryConfig	withMeasurementPosition()	Enables the distance logging if available.
SmartMotorControllerTelemetryConfig	withMeasurementVelocity()	Enables the linear velocity logging if available.
SmartMotorControllerTelemetryConfig	withMechanismLowerLimit()	Enables the mechanism lower limit logging if available.
SmartMotorControllerTelemetryConfig	withMechanismPosition()	Enables the mechanism position logging if available.
SmartMotorControllerTelemetryConfig	withMechanismUpperLimit()	Enables the mechanism upper limit logging if available.
SmartMotorControllerTelemetryConfig	withMechanismVelocity()	Enables the mechanism velocity logging if available.
SmartMotorControllerTelemetryConfig	withMotionProfile()	Enables the motion profile logging if available.
SmartMotorControllerTelemetryConfig	withOutputVoltage()	Enables the output voltage logging if available.
SmartMotorControllerTelemetryConfig	withRotorPosition()	Enables the rotor position logging if available.
SmartMotorControllerTelemetryConfig	withRotorVelocity()	Enables the rotor velocity logging if available.
SmartMotorControllerTelemetryConfig	withSetpointPosition()	Enables the setpoint position logging if available.
SmartMotorControllerTelemetryConfig	withSetpointVelocity()	Enables the setpoint velocity logging if available.
SmartMotorControllerTelemetryConfig	withSimpleFeedforward()	Enables the simple feedforward logging if available.
SmartMotorControllerTelemetryConfig	withStatorCurrent()	Enables the stator current logging if available.
SmartMotorControllerTelemetryConfig	withTelemetryVerbosity(SmartMotorControllerConfig.TelemetryVerbosity verbosity)	Setup with SmartMotorControllerConfig.TelemetryVerbosity
SmartMotorControllerTelemetryConfig	withTemperature()	Enables the temperature logging if available.
SmartMotorControllerTelemetryConfig	withTemperatureLimit()	Enables the temperature limit logging if available.
SmartMotorControllerTelemetryConfig	withVelocityControl()	Enables the velocity control mode logging if available.

Methods inherited from class java.lang.Object

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

Constructor Details

SmartMotorControllerTelemetryConfig

public SmartMotorControllerTelemetryConfig()

Method Details

withTelemetryVerbosity

public SmartMotorControllerTelemetryConfig withTelemetryVerbosity(SmartMotorControllerConfig.TelemetryVerbosity verbosity)

Setup with SmartMotorControllerConfig.TelemetryVerbosity

Parameters:

verbosity - SmartMotorControllerConfig.TelemetryVerbosity to use.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

getDoubleFields

public Map<SmartMotorControllerTelemetry.DoubleTelemetryField,DoubleTelemetry> getDoubleFields(SmartMotorController smc)

Get the configured double fields.

Parameters:

smc - SmartMotorController used to disable unavailable telemetry for certain motor controllers.

Returns:

Configured DoubleTelemetry for each SmartMotorControllerTelemetry.DoubleTelemetryField

getBoolFields

public Map<SmartMotorControllerTelemetry.BooleanTelemetryField,BooleanTelemetry> getBoolFields(SmartMotorController smc)

Get the configured bool fields.

Parameters:

smc - SmartMotorController used to disable unavailable telemetry for certain motor controllers.

Returns:

Configured BooleanTelemetry for each SmartMotorControllerTelemetry.BooleanTelemetryField.

withMechanismLowerLimit

public SmartMotorControllerTelemetryConfig withMechanismLowerLimit()

Enables the mechanism lower limit logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withMechanismUpperLimit

public SmartMotorControllerTelemetryConfig withMechanismUpperLimit()

Enables the mechanism upper limit logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withTemperatureLimit

public SmartMotorControllerTelemetryConfig withTemperatureLimit()

Enables the temperature limit logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withVelocityControl

public SmartMotorControllerTelemetryConfig withVelocityControl()

Enables the velocity control mode logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withElevatorFeedforward

public SmartMotorControllerTelemetryConfig withElevatorFeedforward()

Enables the elevator feedforward logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withArmFeedforward

public SmartMotorControllerTelemetryConfig withArmFeedforward()

Enables the arm feedforward logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withSimpleFeedforward

public SmartMotorControllerTelemetryConfig withSimpleFeedforward()

Enables the simple feedforward logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withMotionProfile

public SmartMotorControllerTelemetryConfig withMotionProfile()

Enables the motion profile logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withSetpointPosition

public SmartMotorControllerTelemetryConfig withSetpointPosition()

Enables the setpoint position logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withSetpointVelocity

public SmartMotorControllerTelemetryConfig withSetpointVelocity()

Enables the setpoint velocity logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withOutputVoltage

public SmartMotorControllerTelemetryConfig withOutputVoltage()

Enables the output voltage logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withStatorCurrent

public SmartMotorControllerTelemetryConfig withStatorCurrent()

Enables the stator current logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withTemperature

public SmartMotorControllerTelemetryConfig withTemperature()

Enables the temperature logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withMeasurementPosition

public SmartMotorControllerTelemetryConfig withMeasurementPosition()

Enables the distance logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withMeasurementVelocity

public SmartMotorControllerTelemetryConfig withMeasurementVelocity()

Enables the linear velocity logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withMechanismPosition

public SmartMotorControllerTelemetryConfig withMechanismPosition()

Enables the mechanism position logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withMechanismVelocity

public SmartMotorControllerTelemetryConfig withMechanismVelocity()

Enables the mechanism velocity logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withRotorPosition

public SmartMotorControllerTelemetryConfig withRotorPosition()

Enables the rotor position logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withRotorVelocity

public SmartMotorControllerTelemetryConfig withRotorVelocity()

Enables the rotor velocity logging if available.

Returns:

SmartMotorControllerTelemetryConfig for chaining.