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Merge pull request #78 from kirbt/Logging
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Shuffleboard Debug Mode vs Non Debug Mode
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@kirbt
kirbt authored Mar 19, 2024
2 parents 6acd476 + 50b2036 commit a24da4b
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Showing 2 changed files with 79 additions and 115 deletions.
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
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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());
}

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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