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Add ShuffleBoard lists

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This commit is contained in:
Michael Mikovsky
2025-01-05 11:25:37 -07:00
parent 248284ef69
commit 5348cafeea
3 changed files with 58 additions and 11 deletions
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src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -63,7 +63,7 @@ public class Robot extends TimedRobot {
Subsystem.subsystems.get(i).queryStatus();
}
System.out.println("Updated statuses!");
// System.out.println("Updated statuses!");
}
}catch(Exception e){
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+21 -8
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@@ -12,6 +12,11 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -334,16 +339,24 @@ public class SwerveDrive extends Subsystem {
return "Swerve Drive Controller";
}
ShuffleboardLayout subsystemLayout = Shuffleboard.getTab("Subsystems")
.getLayout(getSubsystemName(), BuiltInLayouts.kList)
.withSize(2, 2);
GenericEntry sbGyro = subsystemLayout
.add("Gyro angle", 0)
.withWidget(BuiltInWidgets.kGyro)
.getEntry();
GenericEntry sbShiftState = subsystemLayout
.add("Shift State", 0)
.withWidget(BuiltInWidgets.kNumberBar)
.getEntry();
@Override
public void queryStatus() {
SmartDashboard.putNumber("[" + getSubsystemName() + "] Gyro angle", this.gyro.getAngle());
SmartDashboard.putNumber("[" + getSubsystemName() + "] Shift State", this.speedAdjust);
// this.leftFront.queryStatus();
// this.leftBack.queryStatus();
// this.rightFront.queryStatus();
// this.rightBack.queryStatus();
sbGyro.setDouble(this.gyro.getAngle());
sbShiftState.setDouble(this.speedAdjust);
//TODO: Add more status things
}
src/main/java/frc4388/robot/subsystems/SwerveModule.java
+36 -2
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@@ -33,6 +33,11 @@ import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -243,10 +248,39 @@ public class SwerveModule extends Subsystem {
return this.name;
}
ShuffleboardLayout subsystemLayout;
GenericEntry sbSpeed;
GenericEntry sbAngle;
private void createLayout(){
subsystemLayout = Shuffleboard.getTab("Subsystems")
.getLayout(getSubsystemName(), BuiltInLayouts.kList)
.withSize(2, 2);
sbSpeed = subsystemLayout
.add("Drive motor speed", 0)
.withWidget(BuiltInWidgets.kNumberBar)
.getEntry();
sbAngle = subsystemLayout
.add("Angle motor angle", 0)
.withWidget(BuiltInWidgets.kGyro)
.getEntry();
}
@Override
public void queryStatus() {
SmartDashboard.putNumber("[" + getSubsystemName() + "] Drive motor speed", this.driveMotor.get());
SmartDashboard.putNumber("[" + getSubsystemName() + "] Angle motor angle", this.angleMotor.getRotorPosition().getValueAsDouble());
if(subsystemLayout == null)
createLayout();
// Shuffleboard.getTab("Subsystems").set
// sbSpeed.setDouble(this.driveMotor.get());
sbAngle.setDouble(this.angleMotor.getRotorPosition().getValueAsDouble());
// SmartDashboard.putNumber("[" + getSubsystemName() + "] Drive motor speed", this.driveMotor.get());
// SmartDashboard.putNumber("[" + getSubsystemName() + "] Angle motor angle", this.angleMotor.getRotorPosition().getValueAsDouble());
//TODO: Add more status things
}