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[wpilib] Remove Shuffleboard API (#7730)

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This commit is contained in:
Peter Johnson
2025-01-24 23:47:42 -08:00
committed by GitHub
parent 01e71e73ce
commit adbe95e610
82 changed files with 60 additions and 6776 deletions
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22
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
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@@ -68,7 +68,6 @@
"tags": [
"Hardware",
"Joystick",
"Shuffleboard",
"Pneumatics"
],
"foldername": "solenoid",
@@ -108,8 +107,7 @@
"tags": [
"Hardware",
"Ultrasonic",
"SmartDashboard",
"Shuffleboard"
"SmartDashboard"
],
"foldername": "ultrasonic",
"gradlebase": "java",
@@ -308,22 +306,6 @@
"mainclass": "Main",
"commandversion": 2
},
{
"name": "Shuffleboard",
"description": "Present various data via the Shuffleboard API.",
"tags": [
"Basic Robot",
"Differential Drive",
"Elevator",
"Analog",
"Encoder",
"Shuffleboard"
],
"foldername": "shuffleboard",
"gradlebase": "java",
"mainclass": "Main",
"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.",
@@ -333,7 +315,6 @@
"Differential Drive",
"Encoder",
"Pneumatics",
"Shuffleboard",
"Sendable",
"DataLog",
"XboxController"
@@ -352,7 +333,6 @@
"Differential Drive",
"Encoder",
"Pneumatics",
"Shuffleboard",
"Sendable",
"DataLog",
"PS4Controller"

27
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java
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@@ -9,11 +9,9 @@ import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.OIConstants;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.commands.Autos;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
import edu.wpi.first.wpilibj.shuffleboard.EventImportance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandPS4Controller;
@@ -64,28 +62,11 @@ public class RobotContainer {
m_chooser.addOption("Complex Auto", m_complexAuto);
// Put the chooser on the dashboard
Shuffleboard.getTab("Autonomous").add(m_chooser);
SmartDashboard.putData("Autonomous", m_chooser);
// Put subsystems to dashboard.
Shuffleboard.getTab("Drivetrain").add(m_robotDrive);
Shuffleboard.getTab("HatchSubsystem").add(m_hatchSubsystem);
// Set the scheduler to log Shuffleboard events for command initialize, interrupt, finish
CommandScheduler.getInstance()
.onCommandInitialize(
command ->
Shuffleboard.addEventMarker(
"Command initialized", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandInterrupt(
command ->
Shuffleboard.addEventMarker(
"Command interrupted", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandFinish(
command ->
Shuffleboard.addEventMarker(
"Command finished", command.getName(), EventImportance.kNormal));
SmartDashboard.putData("Drivetrain", m_robotDrive);
SmartDashboard.putData("HatchSubsystem", m_hatchSubsystem);
}
/**

32
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/RobotContainer.java
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@@ -17,11 +17,9 @@ import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.HalveDriveSpe
import edu.wpi.first.wpilibj.examples.hatchbottraditional.commands.ReleaseHatch;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.DriveSubsystem;
import edu.wpi.first.wpilibj.examples.hatchbottraditional.subsystems.HatchSubsystem;
import edu.wpi.first.wpilibj.shuffleboard.EventImportance;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
/**
@@ -71,32 +69,10 @@ public class RobotContainer {
m_chooser.addOption("Complex Auto", m_complexAuto);
// Put the chooser on the dashboard
Shuffleboard.getTab("Autonomous").add(m_chooser);
SmartDashboard.putData("Autonomous", m_chooser);
// Put subsystems to dashboard.
Shuffleboard.getTab("Drivetrain").add(m_robotDrive);
Shuffleboard.getTab("HatchSubsystem").add(m_hatchSubsystem);
// Log Shuffleboard events for command initialize, execute, finish, interrupt
CommandScheduler.getInstance()
.onCommandInitialize(
command ->
Shuffleboard.addEventMarker(
"Command initialized", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandExecute(
command ->
Shuffleboard.addEventMarker(
"Command executed", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandFinish(
command ->
Shuffleboard.addEventMarker(
"Command finished", command.getName(), EventImportance.kNormal));
CommandScheduler.getInstance()
.onCommandInterrupt(
command ->
Shuffleboard.addEventMarker(
"Command interrupted", command.getName(), EventImportance.kNormal));
SmartDashboard.putData("Drivetrain", m_robotDrive);
SmartDashboard.putData("HatchSubsystem", m_hatchSubsystem);
}
/**

25
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Main.java
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@@ -1,25 +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.
package edu.wpi.first.wpilibj.examples.shuffleboard;
import edu.wpi.first.wpilibj.RobotBase;
/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
* you are doing, do not modify this file except to change the parameter class to the startRobot
* call.
*/
public final class Main {
private Main() {}
/**
* Main initialization function. Do not perform any initialization here.
*
* <p>If you change your main robot class, change the parameter type.
*/
public static void main(String... args) {
RobotBase.startRobot(Robot::new);
}
}

66
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
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@@ -1,66 +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.
package edu.wpi.first.wpilibj.examples.shuffleboard;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
public class Robot extends TimedRobot {
private final PWMSparkMax m_leftDriveMotor = new PWMSparkMax(0);
private final PWMSparkMax m_rightDriveMotor = new PWMSparkMax(1);
private final DifferentialDrive m_tankDrive =
new DifferentialDrive(m_leftDriveMotor::set, m_rightDriveMotor::set);
private final Encoder m_leftEncoder = new Encoder(0, 1);
private final Encoder m_rightEncoder = new Encoder(2, 3);
private final PWMSparkMax m_elevatorMotor = new PWMSparkMax(2);
private final AnalogPotentiometer m_elevatorPot = new AnalogPotentiometer(0);
private final GenericEntry m_maxSpeed;
/** Called once at the beginning of the robot program. */
public Robot() {
SendableRegistry.addChild(m_tankDrive, m_leftDriveMotor);
SendableRegistry.addChild(m_tankDrive, m_rightDriveMotor);
// Add a 'max speed' widget to a tab named 'Configuration', using a number slider
// The widget will be placed in the second column and row and will be TWO columns wide
m_maxSpeed =
Shuffleboard.getTab("Configuration")
.add("Max Speed", 1)
.withWidget("Number Slider")
.withPosition(1, 1)
.withSize(2, 1)
.getEntry();
// Add the tank drive and encoders to a 'Drivebase' tab
ShuffleboardTab driveBaseTab = Shuffleboard.getTab("Drivebase");
driveBaseTab.add("Tank Drive", m_tankDrive);
// Put both encoders in a list layout
ShuffleboardLayout encoders =
driveBaseTab.getLayout("Encoders", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 2);
encoders.add("Left Encoder", m_leftEncoder);
encoders.add("Right Encoder", m_rightEncoder);
// Add the elevator motor and potentiometer to an 'Elevator' tab
ShuffleboardTab elevatorTab = Shuffleboard.getTab("Elevator");
elevatorTab.add("Motor", m_elevatorMotor);
elevatorTab.add("Potentiometer", m_elevatorPot);
}
@Override
public void autonomousInit() {
// Read the value of the 'max speed' widget from the dashboard
m_tankDrive.setMaxOutput(m_maxSpeed.getDouble(1.0));
}
}

38
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java
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@@ -10,8 +10,7 @@ import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This is a sample program showing the use of the solenoid classes during operator control. Three
@@ -46,29 +45,28 @@ public class Robot extends TimedRobot {
/** Called once at the beginning of the robot program. */
public Robot() {
// Publish elements to shuffleboard.
ShuffleboardTab tab = 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
// 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.
tab.addDouble("PH Pressure [PSI]", m_compressor::getPressure);
// Get compressor current draw.
tab.addDouble("Compressor Current", m_compressor::getCurrent);
// Get whether the compressor is active.
tab.addBoolean("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.
tab.addBoolean("Pressure Switch", m_compressor::getPressureSwitchValue);
// Publish elements to dashboard.
SmartDashboard.putData("Single Solenoid", m_solenoid);
SmartDashboard.putData("Double Solenoid", m_doubleSolenoid);
SmartDashboard.putData("Compressor", m_compressor);
}
@SuppressWarnings("PMD.UnconditionalIfStatement")
@Override
public void 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.
SmartDashboard.putNumber("PH Pressure [PSI]", m_compressor.getPressure());
// Get compressor current draw.
SmartDashboard.putNumber("Compressor Current", m_compressor.getCurrent());
// Get whether the compressor is active.
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.
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

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
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@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj.examples.ultrasonic;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Ultrasonic;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
@@ -21,7 +20,7 @@ public class Robot extends TimedRobot {
public Robot() {
// Add the ultrasonic on the "Sensors" tab of the dashboard
// Data will update automatically
Shuffleboard.getTab("Sensors").add(m_rangeFinder);
SmartDashboard.putData("Sensors", m_rangeFinder);
}
@Override