Team2890/YAGSL
4
0
Fork 0
mirror of https://github.com/BroncBotz3481/YAGSL synced 2026-06-27 07:01:39 +00:00
Code Issues Packages Projects Releases Wiki Activity

Updated to 2024.4.8.3

Browse Source
This commit is contained in:
thenetworkgrinch
2024-02-12 18:59:40 -06:00
parent 78349d6f2d
commit 74ac1351ef
117 changed files with 536 additions and 438 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
swervelib/telemetry/SwerveDriveTelemetry.java
View File

@@ -2,6 +2,7 @@ package swervelib.telemetry;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import swervelib.telemetry.Alert.AlertType;
/**
* Telemetry to describe the {@link swervelib.SwerveDrive} following frc-web-components. (Which follows AdvantageKit)
@@ -9,69 +10,87 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class SwerveDriveTelemetry
{
/**
* An {@link Alert} for if the CAN ID is greater than 40.
*/
public static final Alert canIdWarning = new Alert("JSON",
"CAN IDs greater than 40 can cause undefined behaviour, please use a CAN ID below 40!",
Alert.AlertType.WARNING);
/**
* An {@link Alert} for if there is an I2C lockup issue on the roboRIO.
*/
public static final Alert i2cLockupWarning = new Alert("IMU",
"I2C lockup issue detected on roboRIO. Check console for more information.",
Alert.AlertType.WARNING);
/**
* NavX serial comm issue.
*/
public static final Alert serialCommsIssueWarning = new Alert("IMU",
"Serial comms is interrupted with USB and other serial traffic and causes intermittent connected/disconnection issues. Please consider another protocol or be mindful of this.",
AlertType.WARNING);
/**
* The current telemetry verbosity level.
*/
public static TelemetryVerbosity verbosity = TelemetryVerbosity.MACHINE;
public static TelemetryVerbosity verbosity = TelemetryVerbosity.MACHINE;
/**
* State of simulation of the Robot, used to optimize retrieval.
*/
public static boolean isSimulation = RobotBase.isSimulation();
public static boolean isSimulation = RobotBase.isSimulation();
/**
* The number of swerve modules
*/
public static int moduleCount;
public static int moduleCount;
/**
* The number of swerve modules
*/
public static double[] wheelLocations;
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