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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/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
}