Java Code Examples for edu.wpi.first.wpilibj.smartdashboard.SmartDashboard#putString()

@Override
public void outputTelemetry() {
    SmartDashboard.putBoolean("Vacuum: Low sensor", getLowerPressureSensor());
    SmartDashboard.putBoolean("Vacuum: High sensor", getHigherPressureSensor());

    String state = "default";
    if (mPeriodicIO.thresholdState == ThresholdState.ABOVE) {
        state = "Above";
    } else if (mPeriodicIO.thresholdState == ThresholdState.BETWEEN) {
        state = "Between";
    } else if (mPeriodicIO.thresholdState == ThresholdState.BELOW) {
        state = "Below";
    }
    SmartDashboard.putString("Vacuum: Threshold state", state);

    if (mCSVWriter != null) {
        mCSVWriter.write();
    }
}
 

@Override
public void autonomousInit() {
    SmartDashboard.putString("Match Cycle", "AUTONOMOUS");

    try {
        CrashTracker.logAutoInit();
        mDisabledLooper.stop();

        RobotState.getInstance().reset(Timer.getFPGATimestamp(), Pose2d.identity());

        Drive.getInstance().zeroSensors();
        mInfrastructure.setIsDuringAuto(true);

        mWrist.setRampRate(Constants.kAutoWristRampRate);

        mAutoModeExecutor.start();

        mLED.setEnableFaults(false);
        mEnabledLooper.start();

        mSuperstructure.setKickstand(true);
    } catch (Throwable t) {
        CrashTracker.logThrowableCrash(t);
        throw t;
    }
}
 

@Override
public void testInit() {
    SmartDashboard.putString("Match Cycle", "TEST");

    try {
        System.out.println("Starting check systems.");

        mDisabledLooper.stop();
        mEnabledLooper.stop();

        //mDrive.checkSystem();
        //mIntake.checkSystem();
        //mWrist.checkSystem();
        mElevator.checkSystem();

    } catch (Throwable t) {
        CrashTracker.logThrowableCrash(t);
        throw t;
    }
}
 

@Override
public void disabledPeriodic() {
    SmartDashboard.putString("Match Cycle", "DISABLED");

    try {
        outputToSmartDashboard();
        mWrist.resetIfAtLimit();
        mElevator.resetIfAtLimit();

        // Poll FMS auto mode info and update mode creator cache
        mAutoFieldState.setSides(DriverStation.getInstance().getGameSpecificMessage());
        mAutoModeSelector.updateModeCreator();

        if (mAutoFieldState.isValid()) {
            Optional<AutoModeBase> autoMode = mAutoModeSelector.getAutoMode(mAutoFieldState);
            if (autoMode.isPresent() && autoMode.get() != mAutoModeExecutor.getAutoMode()) {
                System.out.println("Set auto mode to: " + autoMode.get().getClass().toString());
                mAutoModeExecutor.setAutoMode(autoMode.get());
            }
            System.gc();
        }
    } catch (Throwable t) {
        CrashTracker.logThrowableCrash(t);
        throw t;
    }
}
 

@Override
public void disabledInit() {
    SmartDashboard.putString("Match Cycle", "DISABLED");

    try {
        CrashTracker.logDisabledInit();
        mEnabledLooper.stop();
        if (mAutoModeExecutor != null) {
            mAutoModeExecutor.stop();
        }

        mInfrastructure.setIsDuringAuto(true);
        Drive.getInstance().zeroSensors();
        RobotState.getInstance().reset(Timer.getFPGATimestamp(), Pose2d.identity());

        // Reset all auto mode state.
        mAutoModeSelector.reset();
        mAutoModeSelector.updateModeCreator();
        mAutoModeExecutor = new AutoModeExecutor();

        mDisabledLooper.start();

        mLED.setEnableFaults(true);
    } catch (Throwable t) {
        CrashTracker.logThrowableCrash(t);
        throw t;
    }
}
 

@Override
public void teleopInit() {
    SmartDashboard.putString("Match Cycle", "TELEOP");

    try {
        CrashTracker.logTeleopInit();
        mDisabledLooper.stop();
        if (mAutoModeExecutor != null) {
            mAutoModeExecutor.stop();
        }

        mAutoFieldState.disableOverride();

        mInfrastructure.setIsDuringAuto(false);
        mWrist.setRampRate(Constants.kWristRampRate);

        RobotState.getInstance().reset(Timer.getFPGATimestamp(), Pose2d.identity());
        mEnabledLooper.start();
        mLED.setEnableFaults(false);
        mInHangMode = false;
        mForklift.retract();

        mShootDelayed.update(false, Double.POSITIVE_INFINITY);
        mPoopyShootDelayed.update(false, Double.POSITIVE_INFINITY);
        mDrive.setVelocity(DriveSignal.NEUTRAL, DriveSignal.NEUTRAL);
        mDrive.setOpenLoop(new DriveSignal(0.05, 0.05));

        mKickStandEngaged = true;
        mKickStandReleased.update(true);
    } catch (Throwable t) {
        CrashTracker.logThrowableCrash(t);
        throw t;
    }
}
 

@Override
public void autonomousPeriodic() {
    SmartDashboard.putString("Match Cycle", "AUTONOMOUS");

    outputToSmartDashboard();
    try {

    } catch (Throwable t) {
        CrashTracker.logThrowableCrash(t);
        throw t;
    }
}
 

/**
     * drive code where rotation is dependent on acceleration
     * @param radius 0.00-1.00, 1 being zero radius and 0 being driving in a line
     */
    public void driveForza(Joystick joy, double ramp, double radius, double inhibitor) {
        double left = 0,
                right = 0;
        double acceleration = Xbox.RT(joy) - Xbox.LT(joy);

        setRamps(ramp);
//        if (getYAngle() > Constants.TILT_ANGLE ) {
//            leftMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, -1 * Constants.RECOVERY_SPEED);
//        } else if (getYAngle() < -1 * Constants.TILT_ANGLE){
//            leftMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//            rightMaster.set(ControlMode.PercentOutput, Constants.RECOVERY_SPEED);
//        } else {

            if (!reversing ? Xbox.LEFT_X(joy) < 0 : Xbox.LEFT_X(joy) > 0) {
                right = acceleration;
                left = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
            } else if (!reversing ? Xbox.LEFT_X(joy) > 0 : Xbox.LEFT_X(joy) < 0) {
                left = acceleration;
                right = (acceleration * ((2 * (1 - Math.abs(Xbox.LEFT_X(joy)))) - 1)) / radius;
            } else {
                left = acceleration;
                right = acceleration;
            }
//        }][\
        left = (left > 1.0 ? 1.0 : (left < -1.0 ? -1.0 : left));
        right = (right > 1.0 ? 1.0 : (right < -1.0 ? -1.0 : right));
        leftMaster.set(ControlMode.PercentOutput, leftify(left) * inhibitor * (reversing ? -1.0 : 1.0));
        rightMaster.set(ControlMode.PercentOutput, rightify(right) * inhibitor * (reversing ? -1.0 : 1.0));

        SmartDashboard.putString("Left Master", "Left Master Voltage: " + leftMaster.getBusVoltage());
        SmartDashboard.putString("Right Master", "Right Master Voltage: " + rightMaster.getBusVoltage());
    }
 

public void outputToSmartDashboard() {
    SmartDashboard.putString("Vacuum SM: State", getStateString());
}
 

public void outputToSmartDashboard() {
    SmartDashboard.putString("AutoModeSelected", mCachedDesiredMode.name());
    SmartDashboard.putString("StartingPositionSelected", mCachedStartingPosition.name());
}
 

public synchronized void outputToSmartDashboard() {
    SmartDashboard.putString("Robot Velocity", getMeasuredVelocity().toString());
}
 

@Override
public synchronized void outputTelemetry() {
    SmartDashboard.putString("Observed Game Piece", getGamePiece().toString());
}
 

public void outputToSmartDashboard() {
    SmartDashboard.putString("AutoModeSelected", mCachedDesiredMode.name());
    SmartDashboard.putString("StartingPositionSelected", mCachedStartingPosition.name());
    SmartDashboard.putString("SwitchScalePositionSelected", mCachedSwitchScalePosition.name());
}
 

@Override
public void testPeriodic() {
    SmartDashboard.putString("Match Cycle", "TEST");
}
 

public void outputToSmartDashboard() {
    SmartDashboard.putString("FieldState OurSwitch", getOurSwitchSide() == null ? "NULL" : getOurSwitchSide().toString());
    SmartDashboard.putString("FieldState Scale", getScaleSide() == null ? "NULL" : getScaleSide().toString());
    SmartDashboard.putString("FieldState TheirSwitch", getOpponentSwitchSide() == null ? "NULL" : getOpponentSwitchSide().toString());
}