mirror of
https://github.com/BroncBotz3481/YAGSL
synced 2026-07-02 07:21:39 +00:00
Upgrading to 2025.1.2
This commit is contained in:
thenetworkgrinch
@@ -45,6 +45,8 @@ public class SwerveDriveTelemetry
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*/
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private static final DoublePublisher moduleCountPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleTopic(
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"swerve/moduleCount")
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.publish();
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@@ -53,6 +55,8 @@ public class SwerveDriveTelemetry
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*/
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private static final DoubleArrayPublisher measuredStatesArrayPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleArrayTopic(
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"swerve/measuredStates")
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.publish();
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@@ -61,6 +65,8 @@ public class SwerveDriveTelemetry
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*/
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private static final DoubleArrayPublisher desiredStatesArrayPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleArrayTopic(
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"swerve/desiredStates")
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.publish();
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@@ -69,6 +75,8 @@ public class SwerveDriveTelemetry
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*/
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private static final DoubleArrayPublisher measuredChassisSpeedsArrayPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleArrayTopic(
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"swerve/measuredChassisSpeeds")
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.publish();
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@@ -77,6 +85,8 @@ public class SwerveDriveTelemetry
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*/
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private static final DoubleArrayPublisher desiredChassisSpeedsArrayPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleArrayTopic(
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"swerve/desiredChassisSpeeds")
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.publish();
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@@ -85,6 +95,8 @@ public class SwerveDriveTelemetry
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*/
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private static final DoublePublisher robotRotationPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleTopic(
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"swerve/robotRotation")
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.publish();
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@@ -93,6 +105,8 @@ public class SwerveDriveTelemetry
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*/
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private static final DoublePublisher maxAngularVelocityPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleTopic(
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"swerve/maxAngularVelocity")
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.publish();
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@@ -101,6 +115,8 @@ public class SwerveDriveTelemetry
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*/
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private static final StructArrayPublisher<SwerveModuleState> measuredStatesStruct
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getStructArrayTopic(
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"swerve/advantagescope/currentStates",
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SwerveModuleState.struct)
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@@ -110,6 +126,8 @@ public class SwerveDriveTelemetry
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*/
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private static final StructArrayPublisher<SwerveModuleState> desiredStatesStruct
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getStructArrayTopic(
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"swerve/advantagescope/desiredStates",
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SwerveModuleState.struct)
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@@ -119,6 +137,8 @@ public class SwerveDriveTelemetry
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*/
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private static final StructPublisher<ChassisSpeeds> measuredChassisSpeedsStruct
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getStructTopic(
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"swerve/advantagescope/measuredChassisSpeeds",
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ChassisSpeeds.struct)
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@@ -128,6 +148,8 @@ public class SwerveDriveTelemetry
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*/
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private static final StructPublisher<ChassisSpeeds> desiredChassisSpeedsStruct
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getStructTopic(
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"swerve/advantagescope/desiredChassisSpeeds",
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ChassisSpeeds.struct)
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@@ -137,6 +159,8 @@ public class SwerveDriveTelemetry
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*/
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private static final StructPublisher<Rotation2d> robotRotationStruct
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getStructTopic(
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"swerve/advantagescope/robotRotation",
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Rotation2d.struct)
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@@ -144,103 +168,125 @@ public class SwerveDriveTelemetry
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/**
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* Wheel locations array publisher for NT4.
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*/
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private static final DoubleArrayPublisher wheelLocationsArrayPublisher = NetworkTableInstance.getDefault()
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.getDoubleArrayTopic(
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"swerve/wheelLocation")
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.publish();
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private static final DoubleArrayPublisher wheelLocationsArrayPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleArrayTopic(
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"swerve/wheelLocation")
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.publish();
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/**
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* Max speed publisher for NT4.
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*/
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private static final DoublePublisher maxSpeedPublisher = NetworkTableInstance.getDefault()
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.getDoubleTopic(
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"swerve/maxSpeed")
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.publish();
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private static final DoublePublisher maxSpeedPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleTopic(
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"swerve/maxSpeed")
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.publish();
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/**
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* Rotation unit for NT4.
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*/
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private static final StringPublisher rotationUnitPublisher = NetworkTableInstance.getDefault()
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.getStringTopic(
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"swerve/rotationUnit")
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.publish();
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private static final StringPublisher rotationUnitPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getStringTopic(
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"swerve/rotationUnit")
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.publish();
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/**
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* Chassis width publisher
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*/
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private static final DoublePublisher sizeLeftRightPublisher = NetworkTableInstance.getDefault()
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.getDoubleTopic(
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"swerve/sizeLeftRight")
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.publish();
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private static final DoublePublisher sizeLeftRightPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleTopic(
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"swerve/sizeLeftRight")
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.publish();
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/**
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* Chassis Length publisher.
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*/
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private static final DoublePublisher sizeFrontBackPublisher = NetworkTableInstance.getDefault()
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.getDoubleTopic(
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"swerve/sizeFrontBack")
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.publish();
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private static final DoublePublisher sizeFrontBackPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleTopic(
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"swerve/sizeFrontBack")
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.publish();
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/**
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* Chassis direction widget publisher.
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*/
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private static final StringPublisher forwardDirectionPublisher = NetworkTableInstance.getDefault()
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.getStringTopic(
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"swerve/forwardDirection")
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.publish();
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private static final StringPublisher forwardDirectionPublisher
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getStringTopic(
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"swerve/forwardDirection")
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.publish();
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/**
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* Odometry cycle time, updated whenever {@link SwerveDrive#updateOdometry()} is called.
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*/
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private static final DoublePublisher odomCycleTime
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= NetworkTableInstance.getDefault()
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.getDoubleTopic(
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"swerve/odomCycleMS")
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.publish();
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleTopic(
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"swerve/odomCycleMS")
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.publish();
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/**
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* Control cycle time, updated whenever
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* {@link swervelib.SwerveModule#setDesiredState(SwerveModuleState, boolean, double)} is called for the last module.
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*/
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private static final DoublePublisher ctrlCycleTime
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= NetworkTableInstance.getDefault()
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.getDoubleTopic(
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"swerve/controlCycleMS")
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.publish();
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= NetworkTableInstance.getDefault()
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.getTable(
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"SmartDashboard")
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.getDoubleTopic(
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"swerve/controlCycleMS")
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.publish();
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/**
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* Odometry timer to track cycle times.
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*/
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private static final Timer odomTimer = new Timer();
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private static final Timer odomTimer = new Timer();
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/**
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* Control timer to track cycle times.
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*/
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private static final Timer ctrlTimer = new Timer();
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private static final Timer ctrlTimer = new Timer();
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/**
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* Measured swerve module states object.
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*/
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public static SwerveModuleState[] measuredStatesObj
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= new SwerveModuleState[4];
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= new SwerveModuleState[4];
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/**
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* Desired swerve module states object
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*/
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public static SwerveModuleState[] desiredStatesObj
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= new SwerveModuleState[4];
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= new SwerveModuleState[4];
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/**
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* The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
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* chassis speeds properties.
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*/
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public static ChassisSpeeds measuredChassisSpeedsObj = new ChassisSpeeds();
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public static ChassisSpeeds measuredChassisSpeedsObj = new ChassisSpeeds();
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/**
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* Describes the desired forward, sideways and angular velocity of the robot.
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*/
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public static ChassisSpeeds desiredChassisSpeedsObj = new ChassisSpeeds();
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public static ChassisSpeeds desiredChassisSpeedsObj = new ChassisSpeeds();
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/**
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* The robot's current rotation based on odometry or gyro readings
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*/
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public static Rotation2d robotRotationObj = new Rotation2d();
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public static Rotation2d robotRotationObj = new Rotation2d();
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/**
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* The current telemetry verbosity level.
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*/
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public static TelemetryVerbosity verbosity
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= TelemetryVerbosity.MACHINE;
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= TelemetryVerbosity.MACHINE;
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/**
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* State of simulation of the Robot, used to optimize retrieval.
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*/
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public static boolean isSimulation
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= RobotBase.isSimulation();
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= RobotBase.isSimulation();
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/**
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* The number of swerve modules
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*/
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@@ -260,7 +306,7 @@ public class SwerveDriveTelemetry
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/**
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* The robot's current rotation based on odometry or gyro readings
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*/
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public static double robotRotation = 0;
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public static double robotRotation = 0;
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/**
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* The maximum achievable speed of the modules, used to adjust the size of the vectors.
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*/
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@@ -268,7 +314,7 @@ public class SwerveDriveTelemetry
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/**
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* The units of the module rotations and robot rotation
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*/
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public static String rotationUnit = "degrees";
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public static String rotationUnit = "degrees";
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/**
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* The distance between the left and right modules.
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*/
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@@ -281,7 +327,7 @@ public class SwerveDriveTelemetry
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* The direction the robot should be facing when the "Robot Rotation" is zero or blank. This option is often useful to
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* align with odometry data or match videos. 'up', 'right', 'down' or 'left'
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*/
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public static String forwardDirection = "up";
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public static String forwardDirection = "up";
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/**
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* The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
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* chassis speeds properties.
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@@ -291,15 +337,15 @@ public class SwerveDriveTelemetry
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* The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
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* chassis speeds properties.
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*/
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public static double[] measuredChassisSpeeds = new double[3];
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public static double[] measuredChassisSpeeds = new double[3];
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/**
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* Describes the desired forward, sideways and angular velocity of the robot.
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*/
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public static double[] desiredChassisSpeeds = new double[3];
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public static double[] desiredChassisSpeeds = new double[3];
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/**
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* Update the telemetry settings that infrequently change.
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*/
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public static boolean updateSettings = true;
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public static boolean updateSettings = true;
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/**
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* Start the ctrl timer to measure cycle time, independent of periodic loops.
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