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Updated swervelib telemetry configurability. Reliable gyroscope modulo

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thenetworkgrinch
2023-02-24 19:11:05 -06:00
parent 9b699291e8
commit 69edd17103
121 changed files with 2280 additions and 501 deletions
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60
swervelib/telemetry/SwerveDriveTelemetry.java
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@@ -1,5 +1,6 @@
package swervelib.telemetry;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
@@ -9,60 +10,68 @@ public class SwerveDriveTelemetry
{
/**
* The number of swerve modules
* The current telemetry verbosity level.
*/
public static int moduleCount;
public static TelemetryVerbosity verbosity = TelemetryVerbosity.MACHINE;
/**
* State of simulation of the Robot, used to optimize retrieval.
*/
public static boolean isSimulation = RobotBase.isSimulation();
/**
* The number of swerve modules
*/
public static double[] wheelLocations;
public static int moduleCount;
/**
* The number of swerve modules
*/
public static double[] wheelLocations;
/**
* An array of rotation and velocity values describing the measured state of each swerve module
*/
public static double[] measuredStates;
public static double[] measuredStates;
/**
* An array of rotation and velocity values describing the desired state of each swerve module
*/
public static double[] desiredStates;
public static double[] desiredStates;
/**
* The robot's current rotation based on odometry or gyro readings
*/
public static double robotRotation = 0;
public static double robotRotation = 0;
/**
* The maximum achievable speed of the modules, used to adjust the size of the vectors.
*/
public static double maxSpeed;
public static double maxSpeed;
/**
* The units of the module rotations and robot rotation
*/
public static String rotationUnit = "degrees";
public static String rotationUnit = "degrees";
/**
* The distance between the left and right modules.
*/
public static double sizeLeftRight;
public static double sizeLeftRight;
/**
* The distance between the front and back modules.
*/
public static double sizeFrontBack;
public static double sizeFrontBack;
/**
* The direction the robot should be facing when the "Robot Rotation" is zero or blank. This option is often useful to
* align with odometry data or match videos. 'up', 'right', 'down' or 'left'
*/
public static String forwardDirection = "up";
public static String forwardDirection = "up";
/**
* The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
* chassis speeds properties.
*/
public static double maxAngularVelocity;
public static double maxAngularVelocity;
/**
* The maximum achievable angular velocity of the robot. This is used to visualize the angular velocity from the
* chassis speeds properties.
*/
public static double[] measuredChassisSpeeds = new double[3];
public static double[] measuredChassisSpeeds = new double[3];
/**
* Describes the desired forward, sideways and angular velocity of the robot.
*/
public static double[] desiredChassisSpeeds = new double[3];
public static double[] desiredChassisSpeeds = new double[3];
/**
* Upload data to smartdashboard
@@ -83,4 +92,27 @@ public class SwerveDriveTelemetry
SmartDashboard.putNumberArray("swerve/measuredChassisSpeeds", measuredChassisSpeeds);
SmartDashboard.putNumberArray("swerve/desiredChassisSpeeds", desiredChassisSpeeds);
}
/**
* Verbosity of telemetry data sent back.
*/
public enum TelemetryVerbosity
{
/**
* No telemetry data is sent back.
*/
NONE,
/**
* Low telemetry data, only post the robot position on the field.
*/
LOW,
/**
* Full swerve drive data is sent back in both human and machine readable forms.
*/
HIGH,
/**
* Only send the machine readable data related to swerve drive.
*/
MACHINE
}
}