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.
Optional<String>	getDataLogName()	Get the entry name for the smart motor controller in DataLog.
Map<SmartMotorControllerTelemetry.DoubleTelemetryField,DoubleTelemetry>	getDoubleFields(SmartMotorController smc)	Get the configured double fields.
boolean	getNT4Enabled()	Log telemetry to NT4?
SmartMotorControllerTelemetryConfig	withArmFeedforward()	Enables the arm feedforward logging if available.
SmartMotorControllerTelemetryConfig	withDataLogName(String dataLogName)	Set up a DataLog entry for this SmartMotorController
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	withNetworkTables(boolean NT4Telemetry)	Enable or disable NT4 Telemetry.
SmartMotorControllerTelemetryConfig	withoutNetworkTables()	Disable NetworkTable output.
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

withDataLogName

public SmartMotorControllerTelemetryConfig withDataLogName(String dataLogName)

Set up a DataLog entry for this SmartMotorController

Parameters:

dataLogName - DataLog entry name

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withNetworkTables

public SmartMotorControllerTelemetryConfig withNetworkTables(boolean NT4Telemetry)

Enable or disable NT4 Telemetry. This will not create NT4 entries and is generally only advisable during competition matches.

Parameters:

NT4Telemetry - NT4 Boolean

Returns:

SmartMotorControllerTelemetryConfig for chaining.

withoutNetworkTables

public SmartMotorControllerTelemetryConfig withoutNetworkTables()

Disable NetworkTable output.

Returns:

Disable NT4 telemetry.

withTelemetryVerbosity

public SmartMotorControllerTelemetryConfig withTelemetryVerbosity(SmartMotorControllerConfig.TelemetryVerbosity verbosity)

Setup with SmartMotorControllerConfig.TelemetryVerbosity

Parameters:

verbosity - SmartMotorControllerConfig.TelemetryVerbosity to use.

Returns:

SmartMotorControllerTelemetryConfig for chaining.

getDataLogName

public Optional<String> getDataLogName()

Get the entry name for the smart motor controller in DataLog.

Returns:

DataLog entry name.

getNT4Enabled

public boolean getNT4Enabled()

Log telemetry to NT4?

Returns:

should Telemetry be sent to NT4.

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.