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Merged
FRCTeam3255-Shared-K1-10 merged 5 commits into from
Aug 16, 2026
Merged

made telemetry #79

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3471752
made telemetry
FRCTeam3255-Shared-K1-10 Aug 8, 2026
f8e4a63
Merge branch 'main' into Create-Telemetry
FRCTeam3255-Shared-K1-10 Aug 8, 2026
8396587
Merge branch 'main' into Create-Telemetry
BrodyKarr Aug 15, 2026
6b72a52
unused import
BrodyKarr Aug 15, 2026
5b92495
Merge branch 'main' into Create-Telemetry
BrodyKarr Aug 16, 2026
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245 changes: 206 additions & 39 deletions src/main/deploy/elastic-layout.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,123 @@
"version": 1.0,
"grid_size": 34,
"tabs": [
{
"name": "Teleoperated",
"grid_layout": {
"layouts": [],
"containers": [
{
"title": "Robot State",
"x": 0.0,
"y": 0.0,
"width": 374.0,
"height": 170.0,
"type": "Large Text Display",
"properties": {
"topic": "Robot/m_robotContainer/robotStateToString",
"period": 0.6,
"data_type": "string"
}
},
{
"title": "Match Period",
"x": 374.0,
"y": 170.0,
"width": 714.0,
"height": 136.0,
"type": "Large Text Display",
"properties": {
"topic": "Robot/m_robotContainer/loggedTelemetryInstance/getMatchPeriod",
"period": 0.6,
"data_type": "string"
}
},
{
"title": "Is our shift?",
"x": 0.0,
"y": 170.0,
"width": 374.0,
"height": 374.0,
"type": "Boolean Box",
"properties": {
"topic": "Robot/m_robotContainer/isOurShiftTrigger",
"period": 0.06,
"data_type": "boolean",
"true_color": 4283215696,
"false_color": 4294198070,
"true_icon": "None",
"false_icon": "X"
}
},
{
"title": "Our Shift First",
"x": 1088.0,
"y": 0.0,
"width": 408.0,
"height": 170.0,
"type": "Boolean Box",
"properties": {
"topic": "Robot/m_robotContainer/isOurShiftFirstTrigger",
"period": 0.06,
"data_type": "boolean",
"true_color": 4294967295,
"false_color": 4279571733,
"true_icon": "Checkmark",
"false_icon": "None"
}
},
{
"title": "Match Time",
"x": 374.0,
"y": 0.0,
"width": 714.0,
"height": 170.0,
"type": "Match Time",
"properties": {
"topic": "Robot/m_robotContainer/loggedTelemetryInstance/getMatchTime",
"period": 0.06,
"data_type": "double",
"time_display_mode": "Minutes and Seconds",
"red_start_time": 15,
"yellow_start_time": 30
}
},
{
"title": "remaining period time",
"x": 374.0,
"y": 306.0,
"width": 714.0,
"height": 238.0,
"type": "Match Time",
"properties": {
"topic": "Robot/m_robotContainer/loggedTelemetryInstance/getMatchPeriodTime",
"period": 0.033,
"data_type": "double",
"time_display_mode": "Seconds Only",
"red_start_time": 0,
"yellow_start_time": 5
}
},
{
"title": "Is our shift?",
"x": 1088.0,
"y": 170.0,
"width": 408.0,
"height": 374.0,
"type": "Boolean Box",
"properties": {
"topic": "Robot/m_robotContainer/isOurShiftTrigger",
"period": 0.06,
"data_type": "boolean",
"true_color": 4283215696,
"false_color": 4294198070,
"true_icon": "None",
"false_icon": "X"
}
}
]
}
},
{
"name": "Disabled",
"grid_layout": {
Expand Down Expand Up @@ -67,7 +184,7 @@
}
},
{
"title": "Auto Chooser",
"title": "Auto Choser",
"x": 0.0,
"y": 0.0,
"width": 374.0,
Expand Down Expand Up @@ -114,7 +231,7 @@
"robot_width": 0.85,
"robot_length": 0.85,
"show_other_objects": true,
"show_trajectories": true,
"show_trajectories": false,
"field_rotation": 0.0,
"robot_color": 4294198070,
"trajectory_color": 4294967295,
Expand All @@ -126,7 +243,7 @@
"x": 510.0,
"y": 0.0,
"width": 238.0,
"height": 340.0,
"height": 170.0,
"type": "Large Text Display",
"properties": {
"topic": "Robot/m_robotContainer/robotStateToString",
Expand All @@ -136,9 +253,9 @@
},
{
"title": "Driving State",
"x": 0.0,
"x": 510.0,
"y": 170.0,
"width": 510.0,
"width": 238.0,
"height": 170.0,
"type": "Large Text Display",
"properties": {
Expand All @@ -147,6 +264,23 @@
"data_type": "string"
}
},
{
"title": "All Zeroed",
"x": 0.0,
"y": 170.0,
"width": 510.0,
"height": 170.0,
"type": "Boolean Box",
"properties": {
"topic": "Robot/bothSubsystemsZeroed",
"period": 0.06,
"data_type": "boolean",
"true_color": 4283215696,
"false_color": 4294198070,
"true_icon": "None",
"false_icon": "None"
}
},
{
"title": "Match Time",
"x": 0.0,
Expand All @@ -162,63 +296,96 @@
"red_start_time": 15,
"yellow_start_time": 30
}
},
{
"title": "Ready to shoot",
"x": 0.0,
"y": 340.0,
"width": 748.0,
"height": 204.0,
"type": "Boolean Box",
"properties": {
"topic": "Robot/m_robotContainer/readyToShootTrigger",
"period": 0.06,
"data_type": "boolean",
"true_color": 4283215696,
"false_color": 4294198070,
"true_icon": "None",
"false_icon": "None"
}
},
{
"title": "climbed?",
"x": 748.0,
"y": 340.0,
"width": 782.0,
"height": 204.0,
"type": "Boolean Box",
"properties": {
"topic": "Robot/m_robotContainer/climbingL1Trigger",
"period": 0.06,
"data_type": "boolean",
"true_color": 4283215696,
"false_color": 4294198070,
"true_icon": "None",
"false_icon": "None"
}
}
]
}
},
{
"name": "Teleoperated",
"name": "Climbing",
"grid_layout": {
"layouts": [],
"containers": [
{
"title": "Robot State",
"title": "Climber Camera",
"x": 0.0,
"y": 0.0,
"width": 374.0,
"height": 578.0,
"type": "Large Text Display",
"width": 646.0,
"height": 544.0,
"type": "Camera Stream",
"properties": {
"topic": "Robot/m_robotContainer/robotStateToString",
"period": 0.6,
"data_type": "string"
"topic": "/CameraPublisher/USB Camera 0",
"period": 0.06,
"rotation_turns": 0,
"compression": 40,
"fps": 30
}
},
{
"title": "Match Time",
"x": 374.0,
"title": "Climbed L1",
"x": 646.0,
"y": 0.0,
"width": 782.0,
"height": 170.0,
"type": "Match Time",
"width": 850.0,
"height": 272.0,
"type": "Boolean Box",
"properties": {
"topic": "Robot/m_robotContainer/loggedTelemetryInstance/getMatchTime",
"topic": "Robot/m_robotContainer/climbingL1Trigger",
"period": 0.06,
"data_type": "double",
"time_display_mode": "Minutes and Seconds",
"red_start_time": 15,
"yellow_start_time": 30
"data_type": "boolean",
"true_color": 4283215696,
"false_color": 4294198070,
"true_icon": "None",
"false_icon": "X"
}
},
{
"title": "Field",
"x": 374.0,
"y": 170.0,
"width": 782.0,
"height": 408.0,
"type": "Field",
"title": "Climbed L2 or L3",
"x": 646.0,
"y": 272.0,
"width": 850.0,
"height": 272.0,
"type": "Boolean Box",
"properties": {
"topic": "/SmartDashboard/Field",
"topic": "Robot/m_robotContainer/climbingL2_L3Trigger",
"period": 0.06,
"field_game": "Rebuilt",
"robot_width": 0.85,
"robot_length": 0.85,
"show_other_objects": true,
"show_trajectories": true,
"field_rotation": 0.0,
"robot_color": 4294198070,
"trajectory_color": 4294967295,
"show_robot_outside_widget": true
"data_type": "boolean",
"true_color": 4283215696,
"false_color": 4294198070,
"true_icon": "None",
"false_icon": "X"
}
}
]
Expand Down
36 changes: 35 additions & 1 deletion src/main/java/frc/robot/RobotContainer.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,20 +14,23 @@
import edu.wpi.first.epilogue.Logged;
import edu.wpi.first.epilogue.NotLogged;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.units.measure.Time;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.DeferredCommand;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.DeviceIDs.controllerIDs;
import frc.robot.commands.AddVisionMeasurement;
import frc.robot.commands.ResetPose;
import frc.robot.commands.states.ShootingOnFly;
import frc.robot.commands.states.ShootingOnPreset;
import frc.robot.constants.ChoreoTraj;
import frc.robot.constants.ConstRumble;
import frc.robot.constants.ConstAuto;
import frc.robot.constants.ConstField;
import frc.robot.constants.ConstSystem;
Expand Down Expand Up @@ -140,6 +143,16 @@ public class RobotContainer {
conDriver.btn_RightBumper),
Set.of(driverStateMachineInstance));

// public final Trigger
public final Trigger isOurShiftFirstTrigger = new Trigger(
() -> telemetryInstance.ourShiftFirst());
public final Trigger isOurShiftTrigger = new Trigger(
() -> telemetryInstance.isHubActive());
public final Trigger hubSwitchingTrigger = new Trigger(
() -> telemetryInstance.hubsIsSwitching());
public final Trigger climbingL1Trigger = new Trigger(
() -> stateMachineInstance.getRobotState() == RobotState.CLIMBING);

public RobotContainer() {
conDriver.setLeftDeadband(constControllers.DRIVER_LEFT_STICK_DEADBAND);

Expand Down Expand Up @@ -457,4 +470,25 @@ public Command addVisionMeasurement() {
public static boolean isPracticeBot() {
return RobotController.getSerialNumber().equals(ConstSystem.PRACTICE_BOT_RIO_SERIAL_NUMBER);
}

public void configFeedback() {

hubSwitchingTrigger
.whileTrue(
Commands.run(() -> conDriver.setRumble(RumbleType.kRightRumble,
ConstRumble.SHIFT_CHANGE_RUMBLE), telemetryInstance))
.onFalse(Commands.runOnce(() -> conDriver.setRumble(RumbleType.kRightRumble,
ConstRumble.RUMBLE_OFF), telemetryInstance));

isOurShiftFirstTrigger
.whileTrue(Commands.run(() -> {
double t = Timer.getFPGATimestamp(); // seconds since FPGA boot
boolean on = ((int) Math.floor(t) % 2) == 0; // toggle every 1 second
conDriver.setRumble(RumbleType.kLeftRumble,
on ? ConstRumble.OUR_SHIFT_FIRST_RUMBLE : ConstRumble.RUMBLE_OFF);
}, telemetryInstance))
.onFalse(Commands.runOnce(() -> conDriver.setRumble(RumbleType.kLeftRumble, ConstRumble.RUMBLE_OFF),
telemetryInstance));
// Add feedback bindings here if needed
}
}
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