frc.robot.subsystems.BetterShuffleboard Class Reference

Public Member Functions
	BetterShuffleboard ()
void	pushDashboard (Limelight limelight, IMU imu, MecaDrive drive, ZED zed)
void	updateControllerExponents ()
void	pushOdom (MecaDrive drive)
void	pushLimelight (Limelight limelight)
void	pushIMU (IMU imu)
void	pushZED (ZED zed)

Detailed Description

Definition at line 12 of file BetterShuffleboard.java.

Constructor & Destructor Documentation

BetterShuffleboard()

frc.robot.subsystems.BetterShuffleboard.BetterShuffleboard

(

)

Definition at line 25 of file BetterShuffleboard.java.

                                {
        tuningTab = Shuffleboard.getTab("Tuning");
        // create widgets for tuning tab
        leftXExp = tuningTab.add("LeftXExp", Constants.LEFT_X_EXPONENT)
            .withWidget(BuiltInWidgets.kNumberSlider)
            .withProperties(Map.of("min", 1, "max", 5))
            .getEntry();
        leftXExp.setDouble(Constants.LEFT_X_EXPONENT);
        leftYExp = tuningTab.add("LeftYExp", Constants.LEFT_Y_EXPONENT)
            .withWidget(BuiltInWidgets.kNumberSlider)
            .withProperties(Map.of("min", 1, "max", 5))
            .getEntry();
        leftYExp.setDouble(Constants.LEFT_Y_EXPONENT);
        rightXExp = tuningTab.add("RightXExp", Constants.RIGHT_X_EXPONENT)
            .withWidget(BuiltInWidgets.kNumberSlider)
            .withProperties(Map.of("min", 1, "max", 5))
            .getEntry();
        rightXExp.setDouble(Constants.RIGHT_X_EXPONENT);
        rightYExp = tuningTab.add("RightYExp", Constants.RIGHT_Y_EXPONENT)
            .withWidget(BuiltInWidgets.kNumberSlider)
            .withProperties(Map.of("min", 1, "max", 5))
            .getEntry();
        rightYExp.setDouble(Constants.RIGHT_Y_EXPONENT);
 
        debugTab = Shuffleboard.getTab("Debug");
        odomTab = Shuffleboard.getTab("Odometry");
        odomX = odomTab.add("OdomX", 0)
            .withWidget(BuiltInWidgets.kGraph)
            .withProperties(Map.of("visible time", 20))
            .getEntry();
        odomY = odomTab.add("OdomY", 0)
            .withWidget(BuiltInWidgets.kGraph)
            .withProperties(Map.of("visible time", 20))
            .getEntry();
        odomHead = odomTab.add("OdomHead", 0)
            .withWidget(BuiltInWidgets.kDial)
            .withProperties(Map.of("min", -180, "max", 180))
            .getEntry();
        FRVel = odomTab.add("FRVel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        FLVel = odomTab.add("FLVel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        RRVel = odomTab.add("RRVel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        RLVel = odomTab.add("RLVel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        NavXVel = odomTab.add("NavXVel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        NavYVel = odomTab.add("NavYVel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        NavRotationRateZ = odomTab.add("NavRotationRateZ", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        NavXAccel = odomTab.add("NavXAccel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        NavYAccel = odomTab.add("NavYAccel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        NavZAccel = odomTab.add("NavZAccel", 0)
            .withWidget(BuiltInWidgets.kNumberBar)
            .withProperties(Map.of("min", -5, "max", 5))
            .getEntry();
        NavRoll = odomTab.add("NavRoll", 0)
            .withWidget(BuiltInWidgets.kDial)
            .withProperties(Map.of("min", -180, "max", 180))
            .getEntry();
        NavPitch = odomTab.add("NavPitch", 0)
            .withWidget(BuiltInWidgets.kDial)
            .withProperties(Map.of("min", -180, "max", 180))
            .getEntry();
        NavHeading = odomTab.add("NavHeading", 0)
            .withWidget(BuiltInWidgets.kDial)
            .withProperties(Map.of("min", -180, "max", 180))
            .getEntry();
        NavConnected = odomTab.add("NavConnected", 0)
            .withWidget(BuiltInWidgets.kBooleanBox)
            .getEntry();
    }

References frc.robot.Constants.LEFT_X_EXPONENT, frc.robot.Constants.LEFT_Y_EXPONENT, frc.robot.Constants.RIGHT_X_EXPONENT, and frc.robot.Constants.RIGHT_Y_EXPONENT.

Member Function Documentation

pushDashboard()

void frc.robot.subsystems.BetterShuffleboard.pushDashboard	(	Limelight	limelight,
		IMU	imu,
		MecaDrive	drive,
		ZED	zed
	)

Definition at line 120 of file BetterShuffleboard.java.

                                                                                     {
        pushLimelight(limelight);
        pushIMU(imu);
        pushZED(zed);
        pushOdom(drive);
    }

References frc.robot.subsystems.BetterShuffleboard.pushIMU(), frc.robot.subsystems.BetterShuffleboard.pushLimelight(), frc.robot.subsystems.BetterShuffleboard.pushOdom(), and frc.robot.subsystems.BetterShuffleboard.pushZED().

Referenced by frc.robot.Robot.robotPeriodic().

pushIMU()

void frc.robot.subsystems.BetterShuffleboard.pushIMU

(

IMU

imu

)

Definition at line 150 of file BetterShuffleboard.java.

                                 {
        // SmartDashboard.putNumber("NavX", imu.getDisplacementX());
        // SmartDashboard.putNumber("NavY", imu.getDisplacementY());
        // SmartDashboard.putNumber("NavZ", imu.getDisplacementZ());
 
        NavXVel.setDouble(imu.getVelocityX());
        NavYVel.setDouble(imu.getVelocityY());
 
        NavXAccel.setDouble(imu.getWorldLinearAccelX());
        NavYAccel.setDouble(imu.getWorldLinearAccelY());
        NavZAccel.setDouble(imu.getWorldLinearAccelZ());
 
        NavRoll.setDouble(imu.getRoll());
        NavPitch.setDouble(imu.getPitch());
        NavHeading.setDouble(imu.getHeading());
 
        NavRotationRateZ.setDouble(imu.getRate());
        NavConnected.setBoolean(imu.isConnected());
    }

References frc.robot.subsystems.IMU.getHeading().

Referenced by frc.robot.subsystems.BetterShuffleboard.pushDashboard().

pushLimelight()

void frc.robot.subsystems.BetterShuffleboard.pushLimelight

(

Limelight

limelight

)

Definition at line 144 of file BetterShuffleboard.java.

                                                   {
        SmartDashboard.putNumber("LimelightX", limelight.getX());
        SmartDashboard.putNumber("LimelightY", limelight.getY());
        SmartDashboard.putNumber("LimelightArea", limelight.getArea());
    }

References frc.robot.subsystems.Limelight.getArea(), frc.robot.subsystems.Limelight.getX(), and frc.robot.subsystems.Limelight.getY().

Referenced by frc.robot.subsystems.BetterShuffleboard.pushDashboard().

pushOdom()

void frc.robot.subsystems.BetterShuffleboard.pushOdom

(

MecaDrive

drive

)

Definition at line 134 of file BetterShuffleboard.java.

                                          {
        odomX.setDouble(drive.getOdomX());
        odomY.setDouble(drive.getOdomY());
        odomHead.setDouble(drive.getOdomHeading());
        FLVel.setDouble(drive.getWheelSpeeds().frontLeftMetersPerSecond);
        FRVel.setDouble(drive.getWheelSpeeds().frontRightMetersPerSecond);
        RLVel.setDouble(drive.getWheelSpeeds().rearLeftMetersPerSecond);
        RRVel.setDouble(drive.getWheelSpeeds().rearRightMetersPerSecond);
    }

References frc.robot.subsystems.MecaDrive.getOdomHeading(), frc.robot.subsystems.MecaDrive.getOdomX(), and frc.robot.subsystems.MecaDrive.getOdomY().

Referenced by frc.robot.subsystems.BetterShuffleboard.pushDashboard().

pushZED()

void frc.robot.subsystems.BetterShuffleboard.pushZED

(

ZED

zed

)

Definition at line 171 of file BetterShuffleboard.java.

                                 {
        SmartDashboard.putNumber("AprilTagX", zed.getAprilTagX());
        SmartDashboard.putNumber("AprilTagY", zed.getAprilTagY());
        SmartDashboard.putNumber("AprilTagZ", zed.getAprilTagZ());
    }

References frc.robot.subsystems.ZED.getAprilTagX(), frc.robot.subsystems.ZED.getAprilTagY(), and frc.robot.subsystems.ZED.getAprilTagZ().

Referenced by frc.robot.subsystems.BetterShuffleboard.pushDashboard().

updateControllerExponents()

void frc.robot.subsystems.BetterShuffleboard.updateControllerExponents

(

)

Definition at line 127 of file BetterShuffleboard.java.

                                            {
        Constants.LEFT_X_EXPONENT = leftXExp.getDouble(2);
        Constants.LEFT_Y_EXPONENT = leftYExp.getDouble(2);
        Constants.RIGHT_X_EXPONENT = rightXExp.getDouble(2);
        Constants.RIGHT_Y_EXPONENT = rightYExp.getDouble(2);
    }

Referenced by frc.robot.Robot.teleopInit().

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The documentation for this class was generated from the following file:

• BetterShuffleboard.java