[wpilib] Remove Shuffleboard API (#7730)

2026-06-20 00:51:42 +00:00 · 2025-01-24 23:47:42 -08:00
parent 01e71e73ce
commit adbe95e610
82 changed files with 60 additions and 6776 deletions
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
@@ -4,7 +4,7 @@

 #include "RobotContainer.h"

-#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc/smartdashboard/SmartDashboard.h>

 RobotContainer::RobotContainer() {
  // Initialize all of your commands and subsystems here
@@ -15,36 +15,10 @@ RobotContainer::RobotContainer() {
  m_chooser.AddOption("Complex Auto", m_complexAuto.get());

  // Put the chooser on the dashboard
-  frc::Shuffleboard::GetTab("Autonomous").Add(m_chooser);
+  frc::SmartDashboard::PutData("Autonomous", &m_chooser);
  // Put subsystems to dashboard.
-  frc::Shuffleboard::GetTab("Drivetrain").Add(m_drive);
-  frc::Shuffleboard::GetTab("HatchSubsystem").Add(m_hatch);
-
-  // Log Shuffleboard events for command initialize, execute, finish, interrupt
-  frc2::CommandScheduler::GetInstance().OnCommandInitialize(
-      [](const frc2::Command& command) {
-        frc::Shuffleboard::AddEventMarker(
-            "Command initialized", command.GetName(),
-            frc::ShuffleboardEventImportance::kNormal);
-      });
-  frc2::CommandScheduler::GetInstance().OnCommandExecute(
-      [](const frc2::Command& command) {
-        frc::Shuffleboard::AddEventMarker(
-            "Command executed", command.GetName(),
-            frc::ShuffleboardEventImportance::kNormal);
-      });
-  frc2::CommandScheduler::GetInstance().OnCommandFinish(
-      [](const frc2::Command& command) {
-        frc::Shuffleboard::AddEventMarker(
-            "Command finished", command.GetName(),
-            frc::ShuffleboardEventImportance::kNormal);
-      });
-  frc2::CommandScheduler::GetInstance().OnCommandInterrupt(
-      [](const frc2::Command& command) {
-        frc::Shuffleboard::AddEventMarker(
-            "Command interrupted", command.GetName(),
-            frc::ShuffleboardEventImportance::kNormal);
-      });
+  frc::SmartDashboard::PutData("Drivetrain", &m_drive);
+  frc::SmartDashboard::PutData("HatchSubsystem", &m_hatch);

  // Configure the button bindings
  ConfigureButtonBindings();
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
@@ -4,7 +4,7 @@

 #include "RobotContainer.h"

-#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc/smartdashboard/SmartDashboard.h>
 #include <frc2/command/button/JoystickButton.h>

 #include "commands/DefaultDrive.h"
@@ -20,36 +20,10 @@ RobotContainer::RobotContainer() {
  m_chooser.AddOption("Complex Auto", &m_complexAuto);

  // Put the chooser on the dashboard
-  frc::Shuffleboard::GetTab("Autonomous").Add(m_chooser);
+  frc::SmartDashboard::PutData("Autonomous", &m_chooser);
  // Put subsystems to dashboard.
-  frc::Shuffleboard::GetTab("Drivetrain").Add(m_drive);
-  frc::Shuffleboard::GetTab("HatchSubsystem").Add(m_hatch);
-
-  // Log Shuffleboard events for command initialize, execute, finish, interrupt
-  frc2::CommandScheduler::GetInstance().OnCommandInitialize(
-      [](const frc2::Command& command) {
-        frc::Shuffleboard::AddEventMarker(
-            "Command initialized", command.GetName(),
-            frc::ShuffleboardEventImportance::kNormal);
-      });
-  frc2::CommandScheduler::GetInstance().OnCommandExecute(
-      [](const frc2::Command& command) {
-        frc::Shuffleboard::AddEventMarker(
-            "Command executed", command.GetName(),
-            frc::ShuffleboardEventImportance::kNormal);
-      });
-  frc2::CommandScheduler::GetInstance().OnCommandFinish(
-      [](const frc2::Command& command) {
-        frc::Shuffleboard::AddEventMarker(
-            "Command finished", command.GetName(),
-            frc::ShuffleboardEventImportance::kNormal);
-      });
-  frc2::CommandScheduler::GetInstance().OnCommandInterrupt(
-      [](const frc2::Command& command) {
-        frc::Shuffleboard::AddEventMarker(
-            "Command interrupted", command.GetName(),
-            frc::ShuffleboardEventImportance::kNormal);
-      });
+  frc::SmartDashboard::PutData("Drivetrain", &m_drive);
+  frc::SmartDashboard::PutData("HatchSubsystem", &m_hatch);

  // Configure the button bindings
  ConfigureButtonBindings();
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
@@ -8,7 +8,6 @@

 #include <frc/controller/PIDController.h>
 #include <frc/geometry/Translation2d.h>
-#include <frc/shuffleboard/Shuffleboard.h>
 #include <frc/trajectory/Trajectory.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
 #include <frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h>
--- a/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ShuffleBoard/cpp/Robot.cpp
@@ -1,88 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <frc/AnalogPotentiometer.h>
-#include <frc/Encoder.h>
-#include <frc/Joystick.h>
-#include <frc/TimedRobot.h>
-#include <frc/drive/DifferentialDrive.h>
-#include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc/shuffleboard/Shuffleboard.h>
-#include <frc/shuffleboard/ShuffleboardLayout.h>
-#include <frc/shuffleboard/ShuffleboardTab.h>
-#include <networktables/GenericEntry.h>
-#include <networktables/NetworkTableInstance.h>
-
-/**
- * This sample program provides an example for ShuffleBoard, an alternative
- * to SmartDashboard for displaying values and properties of different robot
- * parts.
- *
- * ShuffleBoard can use pre-programmed widgets to display various values, such
- * as Boolean Boxes, Sliders, Graphs, and more. In addition, they can display
- * things in various Tabs.
- *
- * For more information on how to create personal layouts and more in
- * ShuffleBoard, feel free to reference the official FIRST WPILib documentation
- * online.
- */
-class Robot : public frc::TimedRobot {
- public:
-  Robot() {
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_left);
-    wpi::SendableRegistry::AddChild(&m_robotDrive, &m_right);
-
-    // Add a widget titled 'Max Speed' with a number slider.
-    m_maxSpeed = frc::Shuffleboard::GetTab("Configuration")
-                     .Add("Max Speed", 1)
-                     .WithWidget("Number Slider")
-                     .GetEntry();
-
-    // Create a 'DriveBase' tab and add the drivetrain object to it.
-    frc::ShuffleboardTab& driveBaseTab = frc::Shuffleboard::GetTab("DriveBase");
-    driveBaseTab.Add("TankDrive", m_robotDrive);
-
-    // Put encoders in a list layout.
-    frc::ShuffleboardLayout& encoders =
-        driveBaseTab.GetLayout("Encoders", frc::BuiltInLayouts::kList)
-            .WithPosition(0, 0)
-            .WithSize(2, 2);
-    encoders.Add("Left Encoder", m_leftEncoder);
-    encoders.Add("Right Encoder", m_rightEncoder);
-
-    // Create a 'Elevator' tab and add the potentiometer and elevator motor to
-    // it.
-    frc::ShuffleboardTab& elevatorTab = frc::Shuffleboard::GetTab("Elevator");
-    elevatorTab.Add("Motor", m_elevatorMotor);
-    elevatorTab.Add("Potentiometer", m_ElevatorPot);
-  }
-
-  void AutonomousInit() override {
-    // Update the Max Output for the drivetrain.
-    m_robotDrive.SetMaxOutput(m_maxSpeed->GetDouble(1.0));
-  }
-
- private:
-  frc::PWMSparkMax m_left{0};
-  frc::PWMSparkMax m_right{1};
-  frc::PWMSparkMax m_elevatorMotor{2};
-
-  frc::DifferentialDrive m_robotDrive{
-      [&](double output) { m_left.Set(output); },
-      [&](double output) { m_right.Set(output); }};
-
-  frc::Joystick m_stick{0};
-
-  frc::Encoder m_leftEncoder{0, 1};
-  frc::Encoder m_rightEncoder{2, 3};
-  frc::AnalogPotentiometer m_ElevatorPot{0};
-
-  nt::GenericEntry* m_maxSpeed;
-};
-
-#ifndef RUNNING_FRC_TESTS
-int main() {
-  return frc::StartRobot<Robot>();
-}
-#endif
--- a/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp
@@ -4,41 +4,35 @@

 #include "Robot.h"

-#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc/smartdashboard/SmartDashboard.h>
 #include <units/pressure.h>

 Robot::Robot() {
  // Publish elements to shuffleboard.
-  frc::ShuffleboardTab& tab = frc::Shuffleboard::GetTab("Pneumatics");
-  tab.Add("Single Solenoid", m_solenoid);
-  tab.Add("Double Solenoid", m_doubleSolenoid);
-  tab.Add("Compressor", m_compressor);
-
-  // Also publish some raw data
-  tab.AddDouble("PH Pressure [PSI]", [&] {
-    // Get the pressure (in PSI) from the analog sensor connected to the PH.
-    // This function is supported only on the PH!
-    // On a PCM, this function will return 0.
-    units::pounds_per_square_inch_t pressure = m_compressor.GetPressure();
-    return pressure.value();
-  });
-  tab.AddDouble("Compressor Current", [&] {
-    // Get compressor current draw.
-    units::ampere_t compressorCurrent = m_compressor.GetCurrent();
-    return compressorCurrent.value();
-  });
-  tab.AddBoolean("Compressor Active", [&] {
-    // Get whether the compressor is active.
-    return m_compressor.IsEnabled();
-  });
-  tab.AddBoolean("Pressure Switch", [&] {
-    // Get the digital pressure switch connected to the PCM/PH.
-    // The switch is open when the pressure is over ~120 PSI.
-    return m_compressor.GetPressureSwitchValue();
-  });
+  frc::SmartDashboard::PutData("Single Solenoid", &m_solenoid);
+  frc::SmartDashboard::PutData("Double Solenoid", &m_doubleSolenoid);
+  frc::SmartDashboard::PutData("Compressor", &m_compressor);
 }

 void Robot::TeleopPeriodic() {
+  // Publish some raw data
+
+  // Get the pressure (in PSI) from the analog sensor connected to the PH.
+  // This function is supported only on the PH!
+  // On a PCM, this function will return 0.
+  frc::SmartDashboard::PutNumber("PH Pressure [PSI]",
+                                 m_compressor.GetPressure().value());
+  // Get compressor current draw.
+  frc::SmartDashboard::PutNumber("Compressor Current",
+                                 m_compressor.GetCurrent().value());
+  // Get whether the compressor is active.
+  frc::SmartDashboard::PutBoolean("Compressor Active",
+                                  m_compressor.IsEnabled());
+  // Get the digital pressure switch connected to the PCM/PH.
+  // The switch is open when the pressure is over ~120 PSI.
+  frc::SmartDashboard::PutBoolean("Pressure Switch",
+                                  m_compressor.GetPressureSwitchValue());
+
  /*
   * The output of GetRawButton is true/false depending on whether
   * the button is pressed; Set takes a boolean for whether
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -8,7 +8,6 @@

 #include <frc/controller/PIDController.h>
 #include <frc/geometry/Translation2d.h>
-#include <frc/shuffleboard/Shuffleboard.h>
 #include <frc/trajectory/Trajectory.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
 #include <frc2/command/Commands.h>
--- a/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Ultrasonic/cpp/Robot.cpp
@@ -4,14 +4,13 @@

 #include "Robot.h"

-#include <frc/shuffleboard/Shuffleboard.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <units/length.h>

 Robot::Robot() {
  // Add the ultrasonic on the "Sensors" tab of the dashboard
  // Data will update automatically
-  frc::Shuffleboard::GetTab("Sensors").Add(m_rangeFinder);
+  frc::SmartDashboard::PutData("Sensors", &m_rangeFinder);
 }

 void Robot::TeleopPeriodic() {
--- a/wpilibcExamples/src/main/cpp/examples/examples.json
+++ b/wpilibcExamples/src/main/cpp/examples/examples.json
@@ -46,7 +46,6 @@
    "tags": [
      "Hardware",
      "Joystick",
-      "Shuffleboard",
      "Pneumatics"
    ],
    "foldername": "Solenoid",
@@ -119,8 +118,7 @@
    "tags": [
      "Hardware",
      "Ultrasonic",
-      "SmartDashboard",
-      "Shuffleboard"
+      "SmartDashboard"
    ],
    "foldername": "Ultrasonic",
    "gradlebase": "cpp",
@@ -318,21 +316,6 @@
    "gradlebase": "c",
    "commandversion": 2
  },
-  {
-    "name": "Shuffleboard",
-    "description": "Present various data via the Shuffleboard API.",
-    "tags": [
-      "Basic Robot",
-      "Differential Drive",
-      "Elevator",
-      "Analog",
-      "Encoder",
-      "Shuffleboard"
-    ],
-    "foldername": "ShuffleBoard",
-    "gradlebase": "cpp",
-    "commandversion": 2
-  },
  {
    "name": "'Traditional' Hatchbot",
    "description": "A fully-functional command-based hatchbot for the 2019 game, written in the 'traditional' style, i.e. commands are given their own classes.",
@@ -341,7 +324,6 @@
      "Command-based",
      "Differential Drive",
      "Encoder",
-      "Shuffleboard",
      "Sendable",
      "DataLog",
      "Pneumatics",
@@ -359,7 +341,6 @@
      "Command-based",
      "Differential Drive",
      "Encoder",
-      "Shuffleboard",
      "Sendable",
      "DataLog",
      "Pneumatics",