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Shuffleboard Debug Mode vs Non Debug Mode #78

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merged 12 commits into from
Mar 19, 2024
Merged

Shuffleboard Debug Mode vs Non Debug Mode #78

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52215ac
logging restructure
stewluj Feb 29, 2024
df4fba9
grub
stewluj Mar 1, 2024
d334873
debug
stewluj Mar 1, 2024
3ba78c1
address pr comments
kirbt Mar 1, 2024
dc53f30
wip autologic changes
kirbt Mar 9, 2024
ba80250
Revert "wip autologic changes"
kirbt Mar 10, 2024
41212bb
Merge branch 'Logging' of https://github.com/kirbt/Crescendo2024 into…
kirbt Mar 10, 2024
06422b4
Merge branch 'robototes:main' into Logging
kirbt Mar 19, 2024
f8735c9
spotless
kirbt Mar 19, 2024
840e54c
Merge branch 'main' into Logging
kirbt Mar 19, 2024
59d9dd7
spotless (i love merge conflicts)
kirbt Mar 19, 2024
50b2036
debug
kirbt Mar 19, 2024
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145 changes: 61 additions & 84 deletions src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.team2412.robot.Robot;
import java.util.Map;

public class IntakeSubsystem extends SubsystemBase {
Expand Down Expand Up @@ -48,83 +49,17 @@ public class IntakeSubsystem extends SubsystemBase {
private final DigitalInput feederSensor;

// Shuffleboard
// speed
private final GenericEntry setIntakeInSpeedEntry =
Shuffleboard.getTab("Intake")
.addPersistent("Intake in speed - ", INTAKE_IN_SPEED)
.withSize(2, 1)
.withProperties(Map.of("Min", -1, "Max", 1))
.getEntry();

private final GenericEntry setIndexInSpeedEntry =
Shuffleboard.getTab("Intake")
.add("Index in speed - ", INDEX_UPPER_IN_SPEED)
.withSize(1, 1)
.getEntry();

private final GenericEntry setFeederInSpeedEntry =
Shuffleboard.getTab("Intake")
.add("Feeder in speed - ", FEEDER_IN_SPEED)
.withSize(1, 1)
.getEntry();

// temperature
private final GenericEntry intakeMotorFrontTemp =
Shuffleboard.getTab("Intake")
.add("Front Intake temp", 0)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();

private final GenericEntry intakeMotorBackTemp =
Shuffleboard.getTab("Intake")
.add("Back Intake temp", 0)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();

private final GenericEntry intakeMotorLeftTemp =
Shuffleboard.getTab("Intake")
.add("Left Intake temp", 0)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();

private final GenericEntry intakeMotorRightTemp =
Shuffleboard.getTab("Intake")
.add("Right Intake temp", 0)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();

private final GenericEntry indexMotorUpperTemp =
Shuffleboard.getTab("Intake")
.add("Upper Index temp", 0)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();
private final ShuffleboardTab shuffleboardTab = Shuffleboard.getTab("Intake");
// speed
private GenericEntry setIntakeInSpeedEntry;

private final GenericEntry ingestMotorTemp =
Shuffleboard.getTab("Intake")
.add("Ingest temp", 0)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();
private GenericEntry setIndexInSpeedEntry;

private final GenericEntry feederMotorTemp =
Shuffleboard.getTab("Intake")
.add("Feeder temp", 0)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();
private GenericEntry setFeederInSpeedEntry;

// sensor override
private final GenericEntry sensorOverride =
Shuffleboard.getTab("Intake")
.add("Override Sensors", false)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kToggleSwitch)
.getEntry();
private GenericEntry sensorOverride;

public IntakeSubsystem() {
intakeMotorFront = new CANSparkMax(INTAKE_MOTOR_FRONT, MotorType.kBrushless);
Expand All @@ -142,9 +77,7 @@ public IntakeSubsystem() {

resetMotors();

ShuffleboardTab shuffleboardTab = Shuffleboard.getTab("Intake");
shuffleboardTab.addBoolean("Index Sensor - ", this::indexSensorHasNote).withSize(1, 1);
shuffleboardTab.addBoolean("Feeder Sensor - ", this::feederSensorHasNote).withSize(1, 1);
initShuffleboard();
}

private void configureMotor(CANSparkBase motor, int currentLimit, boolean invert) {
Expand Down Expand Up @@ -245,17 +178,61 @@ public boolean getSensorOverride() {
return sensorOverride.getBoolean(false);
}

@Override
public void periodic() {
intakeMotorFrontTemp.setDouble(intakeMotorFront.getMotorTemperature());
intakeMotorBackTemp.setDouble(intakeMotorBack.getMotorTemperature());
intakeMotorRightTemp.setDouble(intakeMotorRight.getMotorTemperature());
intakeMotorLeftTemp.setDouble(intakeMotorLeft.getMotorTemperature());
// logging

ingestMotorTemp.setDouble(ingestMotor.getMotorTemperature());
public void initShuffleboard() {
if (Robot.isDebugMode()) {
shuffleboardTab
.addDouble("Front Intake Motor Temp", () -> intakeMotorFront.getMotorTemperature())
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView);
shuffleboardTab
.addDouble("Back Intake Motor Temp", () -> intakeMotorBack.getMotorTemperature())
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView);
shuffleboardTab
.addDouble("Left Intake Motor Temp", () -> intakeMotorLeft.getMotorTemperature())
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView);
shuffleboardTab
.addDouble("Right Intake Motor Temp", () -> intakeMotorRight.getMotorTemperature())
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView);
shuffleboardTab
.addDouble("Ingest Motor Temp", () -> ingestMotor.getMotorTemperature())
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView);
shuffleboardTab
.addDouble("Index Motor Temp", () -> indexMotorUpper.getMotorTemperature())
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView);
shuffleboardTab
.addDouble("Feeder Motor Temp", () -> feederMotor.getMotorTemperature())
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView);
}

indexMotorUpperTemp.setDouble(indexMotorUpper.getMotorTemperature());
shuffleboardTab.addBoolean("Index Sensor - ", this::indexSensorHasNote).withSize(1, 1);
shuffleboardTab.addBoolean("Feeder Sensor - ", this::feederSensorHasNote).withSize(1, 1);

feederMotorTemp.setDouble(feederMotor.getMotorTemperature());
setIntakeInSpeedEntry =
shuffleboardTab
.addPersistent("Intake in speed - ", INTAKE_IN_SPEED)
.withSize(2, 1)
.withProperties(Map.of("Min", -1, "Max", 1))
.getEntry();

setIndexInSpeedEntry =
shuffleboardTab.add("Index in speed - ", INDEX_UPPER_IN_SPEED).withSize(1, 1).getEntry();

setFeederInSpeedEntry =
shuffleboardTab.add("Feeder in speed - ", FEEDER_IN_SPEED).withSize(1, 1).getEntry();

sensorOverride =
Shuffleboard.getTab("Intake")
.add("Override Sensors", false)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kToggleSwitch)
.getEntry();
}
}
49 changes: 18 additions & 31 deletions src/main/java/frc/team2412/robot/subsystems/LauncherSubsystem.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
import frc.team2412.robot.Hardware;
import frc.team2412.robot.Robot;
import frc.team2412.robot.util.SparkPIDWidget;
import java.util.Map;

Expand Down Expand Up @@ -90,10 +91,6 @@ public class LauncherSubsystem extends SubsystemBase {

private GenericEntry launcherAngleSpeedEntry;

private GenericEntry launcherTopFlywheelTemp;

private GenericEntry launcherBottomFlyWheelTemp;

private GenericEntry launcherIsAtSpeed;

private GenericEntry launcherAngleManual;
Expand Down Expand Up @@ -269,13 +266,22 @@ public void manualSetpoint(double setpoint) {
}

private void initShuffleboard() {
launcherBottomFlyWheelTemp =
Shuffleboard.getTab("Launcher")
.add("bottom Flywheel temp", 0)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kTextView)
.withPosition(0, 3)
.getEntry();
if (Robot.isDebugMode()) {
Shuffleboard.getTab("Launcher")
.add(new SparkPIDWidget(launcherAngleOnePIDController, "launcherAnglePID"))
.withPosition(2, 0);
Shuffleboard.getTab("Launcher")
.add(new SparkPIDWidget(launcherTopPIDController, "launcherTopPID"))
.withPosition(0, 0);
Shuffleboard.getTab("Launcher")
.add(new SparkPIDWidget(launcherBottomPIDController, "launcherBottomPID"))
.withPosition(1, 0);

Shuffleboard.getTab("Launcher")
.addDouble("Bottom FlyWheel Temp", () -> launcherBottomMotor.getMotorTemperature());
Shuffleboard.getTab("Launcher")
.addDouble("Top FlyWheel Temp", () -> launcherTopMotor.getMotorTemperature());
Comment on lines +280 to +283
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Have we tested the placement of these? Bottom previously had .withPosition(0, 3) and .withSize(2, 1) and top previously had .withPosition(2, 3) and .withSize(2, 1), but without those I'm worried they will be assigned a spot that overlaps with something else.

}

launcherIsAtSpeed =
Shuffleboard.getTab("Launcher")
Expand All @@ -284,13 +290,6 @@ private void initShuffleboard() {
.withWidget(BuiltInWidgets.kBooleanBox)
.withPosition(0, 2)
.getEntry();
launcherTopFlywheelTemp =
Shuffleboard.getTab("Launcher")
.add("top Flywheel temp", 0)
.withSize(2, 1)
.withWidget(BuiltInWidgets.kTextView)
.withPosition(2, 3)
.getEntry();
launcherAngleSpeedEntry =
Shuffleboard.getTab("Launcher")
.add("Launcher angle Speed", 0)
Expand Down Expand Up @@ -320,32 +319,20 @@ private void initShuffleboard() {
.withProperties(Map.of("Min", -MAX_FREE_SPEED_RPM, "Max", MAX_FREE_SPEED_RPM))
.withPosition(5, 0)
.getEntry();

launcherAngleManual =
Shuffleboard.getTab("Launcher")
.add("Launcher manual increase", 0)
.withSize(1, 1)
.withWidget(BuiltInWidgets.kTextView)
.getEntry();
Shuffleboard.getTab("Launcher")
.add(new SparkPIDWidget(launcherAngleOnePIDController, "launcherAnglePID"))
.withPosition(2, 0);
// Shuffleboard.getTab("Launcher")
// .add(new SparkPIDWidget(launcherAngleTwoPIDController, "launcherAngleTwoPIDController"));
Shuffleboard.getTab("Launcher")
.add(new SparkPIDWidget(launcherTopPIDController, "launcherTopPID"))
.withPosition(0, 0);
Shuffleboard.getTab("Launcher")
.add(new SparkPIDWidget(launcherBottomPIDController, "launcherBottomPID"))
.withPosition(1, 0);
}

@Override
public void periodic() {
launcherAngleEntry.setDouble(getAngle());
launcherSpeedEntry.setDouble(getLauncherSpeed());
launcherAngleSpeedEntry.setDouble(getAngleSpeed());
launcherTopFlywheelTemp.setDouble(launcherTopMotor.getMotorTemperature());
launcherBottomFlyWheelTemp.setDouble(launcherTopMotor.getMotorTemperature());
launcherIsAtSpeed.setBoolean(isAtSpeed());
launcherAngleManual.setDouble(manualAngleSetpoint);
}
Expand Down
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