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feat: improved elastic dash
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@Gavin-Niederman
Gavin-Niederman committed Dec 11, 2024
1 parent 886fa1f commit bfef648
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Showing 3 changed files with 54 additions and 37 deletions.
72 changes: 37 additions & 35 deletions src/main/kotlin/com/frcteam3636/frc2024/Dashboard.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -30,64 +30,66 @@ object Dashboard {

tab.add("Swerve Drive", Drivetrain)!!
.withWidget(ElasticWidgets.SwerveDrive.widgetName)
.withSize(5, 3)
.withPosition(3, 0)
.withSize(4, 4)
.withPosition(6, 0)

tab.addNumber("Velocity, meters per second") {
Translation2d(
Drivetrain.measuredChassisSpeeds.vxMetersPerSecond,
Drivetrain.measuredChassisSpeeds.vyMetersPerSecond
).norm
}
.withWidget(ElasticWidgets.RadialGauge.widgetName)
// add a little extra to the max to improve visual spacing
.withProperties(
mapOf(
"min_value" to 0.0,
"max_value" to Drivetrain.Constants.FREE_SPEED.`in`(MetersPerSecond) + 4.0
)
)
.withSize(3, 3)
.withPosition(0, 0)
// tab.addNumber("Velocity, meters per second") {
// Translation2d(
// Drivetrain.measuredChassisSpeeds.vxMetersPerSecond,
// Drivetrain.measuredChassisSpeeds.vyMetersPerSecond
// ).norm
// }
// .withWidget(ElasticWidgets.RadialGauge.widgetName)
// // add a little extra to the max to improve visual spacing
// .withProperties(
// mapOf(
// "min_value" to 0.0,
// "max_value" to Drivetrain.Constants.FREE_SPEED.`in`(MetersPerSecond) + 4.0
// )
// )
// .withSize(3, 3)
// .withPosition(0, 0)

tab.addNumber("Match Time") { DriverStation.getMatchTime() }
.withWidget(ElasticWidgets.MatchTime.widgetName)
.withSize(4, 3)
.withPosition(4, 3)
.withSize(6, 4)
.withPosition(0, 4)

tab.add("Field", field)
.withWidget(BuiltInWidgets.kField)
.withSize(7, 4)
.withPosition(8, 0)
.withSize(12, 6)
.withPosition(12, 0)

tab.add("Auto Chooser", autoChooser)
.withWidget(BuiltInWidgets.kComboBoxChooser)
.withSize(2, 1)
.withPosition(9, 4)
.withSize(4, 2)
.withPosition(10, 6)

// Status Indicators
tab.addNumber("Battery Voltage") { RobotController.getBatteryVoltage() }
.withWidget(BuiltInWidgets.kVoltageView)
.withSize(3, 1)
.withPosition(0, 5)
.withSize(6, 2)
.withPosition(0, 2)

tab.addBoolean("NavX OK") { Diagnostics.latest.navXConnected }
.withPosition(3, 3)
.withPosition(10, 0)
.withSize(2, 1)
tab.addBoolean("Cameras OK") { Diagnostics.latest.navXConnected }
.withPosition(0, 3)
.withPosition(10, 1)
.withSize(2, 1)
tab.addBoolean("CAN Bus OK") { Diagnostics.latest.canStatus.transmitErrorCount == 0 && Diagnostics.latest.canStatus.receiveErrorCount == 0 }
.withPosition(0, 4)
.withPosition(10, 2)
.withSize(2, 1)
tab.addBoolean("TalonFX Devices OK") { Diagnostics.latest.errorStatusCodes.isEmpty() }
.withPosition(1, 3)
tab.addBoolean("TalonFX OK") { Diagnostics.latest.errorStatusCodes.isEmpty() }
.withPosition(10, 3)
.withSize(2, 1)

tab.addBoolean("Battery Full") { RobotController.getBatteryVoltage() >= 12.3 }
.withPosition(3, 5)
.withPosition(10, 4)
.withSize(2, 2)
tab.addNumber("CAN Bus Utilization") { Diagnostics.latest.canStatus.percentBusUtilization * 100.0 }
.withWidget(BuiltInWidgets.kNumberBar)
.withProperties(mapOf("min_value" to 0.0, "max_value" to 100.0))
.withPosition(2, 4)
.withSize(2, 1)
.withPosition(14, 6)
.withSize(4, 2)
}
}
15 changes: 15 additions & 0 deletions src/main/kotlin/com/frcteam3636/frc2024/Robot.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,9 @@ import com.frcteam3636.frc2024.subsystems.arm.Arm
import com.frcteam3636.frc2024.subsystems.drivetrain.Drivetrain
import com.frcteam3636.frc2024.subsystems.indexer.Indexer
import com.frcteam3636.frc2024.subsystems.intake.Intake
import com.frcteam3636.frc2024.utils.Elastic
import com.frcteam3636.frc2024.utils.ElasticNotification
import com.frcteam3636.frc2024.utils.NotificationLevel
import com.frcteam3636.version.BUILD_DATE
import com.frcteam3636.version.DIRTY
import com.frcteam3636.version.GIT_BRANCH
Expand All @@ -28,6 +31,9 @@ import org.littletonrobotics.junction.Logger
import org.littletonrobotics.junction.networktables.NT4Publisher
import org.littletonrobotics.junction.wpilog.WPILOGReader
import org.littletonrobotics.junction.wpilog.WPILOGWriter
import java.io.File
import kotlin.io.path.Path
import kotlin.io.path.exists


/**
Expand Down Expand Up @@ -85,6 +91,15 @@ object Robot : LoggedRobot() {

if (isReal()) {
Logger.addDataReceiver(WPILOGWriter()) // Log to a USB stick
if (!Path("/U").exists()) {
Elastic.sendAlert(
ElasticNotification(
"logging USB stick not plugged into radio",
"You gotta plug in a usb stick yo",
NotificationLevel.WARNING
)
)
}
Logger.addDataReceiver(NT4Publisher()) // Publish data to NetworkTables
// Enables power distribution logging
if (model == Model.COMPETITION) {
Expand Down
4 changes: 2 additions & 2 deletions src/main/kotlin/com/frcteam3636/frc2024/utils/Elastic.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ data class ElasticNotification @JvmOverloads constructor(
@field:JsonProperty("title") var title: String,
@field:JsonProperty("description") var description: String,
@field:JsonProperty("level") var level: NotificationLevel = NotificationLevel.ERROR,
@field:JsonProperty("displayTime") var displayTimeMillis: Int = 3000,
@field:JsonProperty("displayTime") var displayTimeMillis: Int = 10000,
@field:JsonProperty("width") private val width: Double = 350.0,
@field:JsonProperty("height") private val height: Double = -1.0
) {
Expand All @@ -63,7 +63,7 @@ data class ElasticNotification @JvmOverloads constructor(
title,
description,
level,
3000,
10000,
width,
height
)
Expand Down

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