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[examples] Hatchbots: Add telemetry (#5011)
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@Starlight220
Starlight220 committed Feb 1, 2023
1 parent 83ef8f9 commit 2f96cae
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Showing 32 changed files with 249 additions and 566 deletions.
2 changes: 1 addition & 1 deletion shared/examplecheck.gradle
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Expand Up @@ -62,7 +62,7 @@ def tagList = [
"Swerve Drive",

/* --- Telemetry --- */
"SmartDashboard", "Shuffleboard", "Sendable",
"SmartDashboard", "Shuffleboard", "Sendable", "DataLog",

/* --- Controls --- */
"PID", "State-Space", "Ramsete", "Path Following", "Trajectory", "SysId",
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11 changes: 10 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/Robot.cpp
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Expand Up @@ -4,10 +4,19 @@

#include "Robot.h"

#include <frc/DataLogManager.h>
#include <frc/DriverStation.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc2/command/CommandScheduler.h>

void Robot::RobotInit() {}
void Robot::RobotInit() {
// Start recording to data log
frc::DataLogManager::Start();

// Record DS control and joystick data.
// Change to `false` to not record joystick data.
frc::DriverStation::StartDataLog(frc::DataLogManager::GetLog(), true);
}

/**
* This function is called every 20 ms, no matter the mode. Use
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29 changes: 29 additions & 0 deletions wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/RobotContainer.cpp
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Expand Up @@ -16,6 +16,35 @@ RobotContainer::RobotContainer() {

// Put the chooser on the dashboard
frc::Shuffleboard::GetTab("Autonomous").Add(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);
});

// Configure the button bindings
ConfigureButtonBindings();
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19 changes: 12 additions & 7 deletions wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
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Expand Up @@ -4,6 +4,8 @@

#include "subsystems/DriveSubsystem.h"

#include <wpi/sendable/SendableBuilder.h>

using namespace DriveConstants;

DriveSubsystem::DriveSubsystem()
Expand Down Expand Up @@ -40,14 +42,17 @@ double DriveSubsystem::GetAverageEncoderDistance() {
return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0;
}

frc::Encoder& DriveSubsystem::GetLeftEncoder() {
return m_leftEncoder;
void DriveSubsystem::SetMaxOutput(double maxOutput) {
m_drive.SetMaxOutput(maxOutput);
}

frc::Encoder& DriveSubsystem::GetRightEncoder() {
return m_rightEncoder;
}
void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);

void DriveSubsystem::SetMaxOutput(double maxOutput) {
m_drive.SetMaxOutput(maxOutput);
// Publish encoder distances to telemetry.
builder.AddDoubleProperty(
"leftDistance", [this] { return m_leftEncoder.GetDistance(); }, nullptr);
builder.AddDoubleProperty(
"rightDistance", [this] { return m_rightEncoder.GetDistance(); },
nullptr);
}
12 changes: 12 additions & 0 deletions wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
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Expand Up @@ -4,6 +4,8 @@

#include "subsystems/HatchSubsystem.h"

#include <wpi/sendable/SendableBuilder.h>

using namespace HatchConstants;

HatchSubsystem::HatchSubsystem()
Expand All @@ -21,3 +23,13 @@ frc2::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
return this->RunOnce(
[this] { m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse); });
}

void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);

// Publish the solenoid state to telemetry.
builder.AddBooleanProperty(
"extended",
[this] { return m_hatchSolenoid.Get() == frc::DoubleSolenoid::kForward; },
nullptr);
}
16 changes: 2 additions & 14 deletions wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
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Expand Up @@ -43,20 +43,6 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
double GetAverageEncoderDistance();

/**
* Gets the left drive encoder.
*
* @return the left drive encoder
*/
frc::Encoder& GetLeftEncoder();

/**
* Gets the right drive encoder.
*
* @return the right drive encoder
*/
frc::Encoder& GetRightEncoder();

/**
* Sets the max output of the drive. Useful for scaling the drive to drive
* more slowly.
Expand All @@ -65,6 +51,8 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
void SetMaxOutput(double maxOutput);

void InitSendable(wpi::SendableBuilder& builder) override;

private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.
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2 changes: 2 additions & 0 deletions wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
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Expand Up @@ -27,6 +27,8 @@ class HatchSubsystem : public frc2::SubsystemBase {
*/
frc2::CommandPtr ReleaseHatchCommand();

void InitSendable(wpi::SendableBuilder& builder) override;

private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.
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11 changes: 10 additions & 1 deletion wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/Robot.cpp
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Expand Up @@ -4,10 +4,19 @@

#include "Robot.h"

#include <frc/DataLogManager.h>
#include <frc/DriverStation.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc2/command/CommandScheduler.h>

void Robot::RobotInit() {}
void Robot::RobotInit() {
// Start recording to data log
frc::DataLogManager::Start();

// Record DS control and joystick data.
// Change to `false` to not record joystick data.
frc::DriverStation::StartDataLog(frc::DataLogManager::GetLog(), true);
}

/**
* This function is called every 20 ms, no matter the mode. Use
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29 changes: 29 additions & 0 deletions wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/RobotContainer.cpp
View file
Expand Up @@ -21,6 +21,35 @@ RobotContainer::RobotContainer() {

// Put the chooser on the dashboard
frc::Shuffleboard::GetTab("Autonomous").Add(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);
});

// Configure the button bindings
ConfigureButtonBindings();
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19 changes: 12 additions & 7 deletions wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
View file
Expand Up @@ -4,6 +4,8 @@

#include "subsystems/DriveSubsystem.h"

#include <wpi/sendable/SendableBuilder.h>

using namespace DriveConstants;

DriveSubsystem::DriveSubsystem()
Expand Down Expand Up @@ -40,14 +42,17 @@ double DriveSubsystem::GetAverageEncoderDistance() {
return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0;
}

frc::Encoder& DriveSubsystem::GetLeftEncoder() {
return m_leftEncoder;
void DriveSubsystem::SetMaxOutput(double maxOutput) {
m_drive.SetMaxOutput(maxOutput);
}

frc::Encoder& DriveSubsystem::GetRightEncoder() {
return m_rightEncoder;
}
void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);

void DriveSubsystem::SetMaxOutput(double maxOutput) {
m_drive.SetMaxOutput(maxOutput);
// Publish encoder distances to telemetry.
builder.AddDoubleProperty(
"leftDistance", [this] { return m_leftEncoder.GetDistance(); }, nullptr);
builder.AddDoubleProperty(
"rightDistance", [this] { return m_rightEncoder.GetDistance(); },
nullptr);
}
12 changes: 12 additions & 0 deletions wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
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Expand Up @@ -4,6 +4,8 @@

#include "subsystems/HatchSubsystem.h"

#include <wpi/sendable/SendableBuilder.h>

using namespace HatchConstants;

HatchSubsystem::HatchSubsystem()
Expand All @@ -17,3 +19,13 @@ void HatchSubsystem::GrabHatch() {
void HatchSubsystem::ReleaseHatch() {
m_hatchSolenoid.Set(frc::DoubleSolenoid::kReverse);
}

void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
SubsystemBase::InitSendable(builder);

// Publish the solenoid state to telemetry.
builder.AddBooleanProperty(
"extended",
[this] { return m_hatchSolenoid.Get() == frc::DoubleSolenoid::kForward; },
nullptr);
}
16 changes: 2 additions & 14 deletions ...ibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
View file
Expand Up @@ -43,20 +43,6 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
double GetAverageEncoderDistance();

/**
* Gets the left drive encoder.
*
* @return the left drive encoder
*/
frc::Encoder& GetLeftEncoder();

/**
* Gets the right drive encoder.
*
* @return the right drive encoder
*/
frc::Encoder& GetRightEncoder();

/**
* Sets the max output of the drive. Useful for scaling the drive to drive
* more slowly.
Expand All @@ -65,6 +51,8 @@ class DriveSubsystem : public frc2::SubsystemBase {
*/
void SetMaxOutput(double maxOutput);

void InitSendable(wpi::SendableBuilder& builder) override;

private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.
Expand Down
2 changes: 2 additions & 0 deletions ...ibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
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Expand Up @@ -26,6 +26,8 @@ class HatchSubsystem : public frc2::SubsystemBase {
*/
void ReleaseHatch();

void InitSendable(wpi::SendableBuilder& builder) override;

private:
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.
Expand Down
72 changes: 0 additions & 72 deletions wpilibcExamples/src/main/cpp/examples/SchedulerEventLogging/cpp/Robot.cpp
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