moved the Shuffleboard logic down to the ShuffleBoardSubsystem #30
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The next things I want to implement is to figure out to how put in that information into the path planner also the swerve subsystem. But I think that this is a good base line. We also still need to be able align with the AprilTags when we want to shoot and climb
I think this is a lot more elegant just because it's not swerve feeding into pose which feeds into swerve again
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Puts each motor in a listed layout with speed and position.
- Creates a new Datalog once robotInit is called (when robot turns on)
- Got it to scan for CANSparkMaxs already defined in the inputted class (in the case of a subsystem class, the for loop scans for the motor, encoder, pidcontroller, etc objects, and the if statement only lets fields that hold CANSparkMax objects) - The m_layout lays out an list of integers for each motor on the Shuffleboard - Currently having trouble with getting encoder speed and position values from the field that holds the CANSparkMax (basically, the f.getEncoder lines give out errors: the getEncoder() method is not defined for a field, and is defined for a CANSparkMax instead) Long descriptions aside, I would really appreciate some help with resolving this issue.
…ed reflection to get the field data from the child class
- Had to define a specific swerve-related method (addSwerveMotorVals()) that is similar in composition to the original function that adds vals for an ordinary subsystem - Each subsystem is now extends ShuffleboardSubsystem so that it can use methods from said class and will be able to extend SubsystemBase at the same time
- Organized functions that add vals to shuffleboard - Added gyro widget function
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and used reflection to get the field data from the child class.
Fun fact. This still won't work. I'd leave you to guess what the issue is but it's late and I'll tell you.
SwerveSubsystemdoesn't actually have anyCANSparkMaxfields.And if you try to make SwerveModule just extend ShuffleBoardSubsystem it will kind of work. However, you are going to have 4 Swerve instances all writing to the same 2 fields.
You will need to either make different tabs for each module. Or you will have to add something to the field name to distinguish it. I'd think something like
getDeviceId()might be useful enough.