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made config space display nicer + advantage scope layout json
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@PGgit08
PGgit08 committed Feb 2, 2025
1 parent 9aebce2 commit ea8dce7
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317 changes: 317 additions & 0 deletions advantagescope-layout-telemetry.json
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Original file line number Diff line number Diff line change
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{
"hubs": [
{
"x": -8,
"y": -8,
"width": 1552,
"height": 840,
"state": {
"sidebar": {
"width": 500,
"expanded": [
"/Robot/Robot Container/Swerve",
"/Robot/Swerve/Desired Module States/0",
"/Robot/Swerve/Module States/0",
"/Robot/Swerve/Pose/translation",
"/NT/Faults",
"/NT/Faults/Active Faults/errors",
"/NT/Faults/Active Faults",
"/Robot/Swerve/left-arducam",
"/Robot/Swerve/left-arducam/Estimate",
"/Robot/Swerve/blue-arducam/Estimate",
"/Robot",
"/Robot/Wristevator"
]
},
"tabs": {
"selected": 3,
"tabs": [
{
"type": 0,
"title": "",
"controller": null,
"controllerUUID": "o9cs5ztcxgrwtny58ej9k9380oq4pavb",
"renderer": "#/",
"controlsHeight": 0
},
{
"type": 9,
"title": "Swerve",
"controller": {
"sources": [
{
"type": "chassisSpeeds",
"logKey": "NT:/Robot/Swerve/Speeds",
"logType": "ChassisSpeeds",
"visible": true,
"options": {
"color": "#ff0000"
}
},
{
"type": "chassisSpeeds",
"logKey": "NT:/Robot/Swerve/Desired Speeds",
"logType": "ChassisSpeeds",
"visible": true,
"options": {
"color": "#0000ff"
}
},
{
"type": "states",
"logKey": "NT:/Robot/Swerve/Module States",
"logType": "SwerveModuleState[]",
"visible": true,
"options": {
"color": "#ff0000",
"arrangement": "0,1,2,3"
}
},
{
"type": "states",
"logKey": "NT:/Robot/Swerve/Desired Module States",
"logType": "SwerveModuleState[]",
"visible": true,
"options": {
"color": "#0000ff",
"arrangement": "0,1,2,3"
}
},
{
"type": "rotation",
"logKey": "NT:/Robot/Swerve/Pose/rotation",
"logType": "Rotation2d",
"visible": true,
"options": {}
}
],
"maxSpeed": 4.7,
"sizeX": 0.65,
"sizeY": 0.65,
"orientation": 1
},
"controllerUUID": "tj8b7ik3e8qxcapobn65d8jzeb8a406h",
"renderer": null,
"controlsHeight": 200
},
{
"type": 2,
"title": "Odometry",
"controller": {
"sources": [
{
"type": "robot",
"logKey": "NT:/Robot/Swerve/Pose",
"logType": "Pose2d",
"visible": true,
"options": {}
},
{
"type": "vision",
"logKey": "NT:/Robot/Swerve/Detected Tags",
"logType": "Pose3d[]",
"visible": true,
"options": {
"color": "#00ff00",
"size": "normal"
}
},
{
"type": "ghost",
"logKey": "NT:/Robot/Swerve/Accepted Estimates",
"logType": "Pose3d[]",
"visible": false,
"options": {
"color": "#00ff00"
}
},
{
"type": "ghost",
"logKey": "NT:/Robot/Swerve/Rejected Estimates",
"logType": "Pose3d[]",
"visible": false,
"options": {
"color": "#ffff00"
}
},
{
"type": "trajectory",
"logKey": "NT:/Robot/Auto/Current Trajectory",
"logType": "Pose2d[]",
"visible": true,
"options": {
"color": "#ff00ff",
"size": "normal"
}
},
{
"type": "ghost",
"logKey": "NT:/Robot/Auto/Current Trajectory Desired Pose",
"logType": "Pose2d",
"visible": true,
"options": {
"color": "#ff00ff"
}
}
],
"game": "2025 Field",
"bumpers": "auto",
"origin": "blue",
"orientation": 0,
"size": 24
},
"controllerUUID": "yb01i8b8ie8wdgv27adfp6hmhntv51s1",
"renderer": null,
"controlsHeight": 200
},
{
"type": 11,
"title": "Wristevator Space",
"controller": {
"sources": [
{
"type": "circle",
"logKey": "NT:/Robot/Wristevator/Position",
"logType": "Translation2d",
"visible": true,
"options": {
"size": "small",
"groupSize": "0"
}
},
{
"type": "cross",
"logKey": "NT:/Robot/Wristevator/Presets",
"logType": "Translation2d[]",
"visible": true,
"options": {
"size": "medium",
"groupSize": "1"
}
},
{
"type": "plus",
"logKey": "NT:/Robot/Wristevator/Intermediates",
"logType": "Translation2d[]",
"visible": true,
"options": {
"size": "medium",
"groupSize": "2"
}
}
],
"width": 100,
"height": 10,
"orientation": "xr,yu",
"origin": "ll"
},
"controllerUUID": "9belppk6g6q3m1ap2vmnkv0necq1906m",
"renderer": null,
"controlsHeight": 200
},
{
"type": 10,
"title": "Wristevator",
"controller": [
{
"type": "mechanism",
"logKey": "NT:/SmartDashboard/Wristevator Visualizer",
"logType": "Mechanism2d",
"visible": true,
"options": {}
},
{
"type": "mechanism",
"logKey": "NT:/SmartDashboard/Intake Visualizer",
"logType": "Mechanism2d",
"visible": true,
"options": {}
}
],
"controllerUUID": "nh1p7b3gpwcrbqxaplgte4jzsk0atj1e",
"renderer": null,
"controlsHeight": 180
},
{
"type": 1,
"title": "Line Graph",
"controller": {
"leftSources": [
{
"type": "stepped",
"logKey": "NT:/Robot/Wristevator/Wrist Reference Slope",
"logType": "Number",
"visible": false,
"options": {
"color": "#2b66a2",
"size": "normal"
}
},
{
"type": "stepped",
"logKey": "NT:/Robot/Wristevator/Elevator Reference Slope",
"logType": "Number",
"visible": true,
"options": {
"color": "#e5b31b",
"size": "normal"
}
},
{
"type": "stepped",
"logKey": "NT:Robot/Wristevator/Wrist Velocity",
"logType": "Number",
"visible": false,
"options": {
"color": "#af2437",
"size": "normal"
}
},
{
"type": "stepped",
"logKey": "NT:Robot/Wristevator/Elevator Velocity",
"logType": "Number",
"visible": false,
"options": {
"color": "#af2437",
"size": "normal"
}
},
{
"type": "stepped",
"logKey": "NT:/Robot/Wristevator/Non-Adjusted Desired Elevator Speed",
"logType": "Number",
"visible": false,
"options": {
"color": "#80588e",
"size": "normal"
}
}
],
"rightSources": [],
"discreteSources": [],
"leftLockedRange": null,
"rightLockedRange": null,
"leftUnitConversion": {
"type": null,
"factor": 1
},
"rightUnitConversion": {
"type": null,
"factor": 1
},
"leftFilter": 0,
"rightFilter": 0
},
"controllerUUID": "k1almmklzxunotmndfr92dov3bxdpekl",
"renderer": null,
"controlsHeight": 200
}
]
}
}
}
],
"satellites": [],
"version": "4.1.1"
}
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/subsystems/Wristevator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -153,14 +153,14 @@ public Wristevator() {
presets[i] =
new Translation2d(
Preset.values()[i].getHeight().in(Radians),
Preset.values()[i].getAngle().in(Radians));
Preset.values()[i].getAngle().in(Radians) + WristevatorConstants.minWristAngle.abs(Radians));
}

for (int i = 0; i < Intermediate.values().length; i++) {
intermediates[i] =
new Translation2d(
Intermediate.values()[i].getHeight().in(Radians),
Intermediate.values()[i].getAngle().in(Radians));
Intermediate.values()[i].getAngle().in(Radians) + WristevatorConstants.minWristAngle.abs(Radians));
}

DogLog.log("Wristevator/Presets", presets);
Expand Down Expand Up @@ -527,7 +527,7 @@ public void periodic() {
DogLog.log("Wristevator/Previous Setpoint", _prevSetpoint.toString());
DogLog.log("Wristevator/Next Setpoint", _nextSetpoint.toString());

DogLog.log("Wristevator/Position", new Translation2d(getHeight(), getAngle()));
DogLog.log("Wristevator/Position", new Translation2d(getHeight(), getAngle() + WristevatorConstants.minWristAngle.abs(Radians)));
}

@Override
Expand Down

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