[WIP] Using Shuffleboard#

Overview#

In this section we will be going over

Using and organizing the Shuffleboard
Creating the Telemetry subsystem and adding buttons and data to be viewed in Shuffleboard

What is Shuffleboard#

Shuffleboard is one of the boards the driverstation displays robot data with
It can have widgets like graphs, camera streams, and meters
Unique to shuffleboard is the ability to have tabs for different boards

What is Telemetry#

Telemetry is where we add data to be viewed or command buttons on shuffleboard or smartdashboard
For this section of our tutorial we will be adding switch and encoder data to shuffleboard

Creating the Telemetry Subsystem#

1) Create a new Subsystem called Telemetry

2) Create a constructor for the Telemetry class

The constructor is where we will create buttons for shuffleboard

3) Inside type:

SmartDashboard.putData(“Reset Drive Encoder”, new DriveResetEncoder());

4) Create a public method called update

This method will run periodically in Robot.java to update sensor data on shuffleboard

5) Inside type:

SmartDashboard.putNumber(“Drivetrain Encoder Count”, Robot.m_drivetrain.getDriveEncoderCount());

6) Do the same for the getDriveEncoderDistance method

7) Try adding the Shooter Subsystem commands and sensor methods where they should be

Example

Your full Telemetry.java should look like this

package frc.robot.subsystems;

import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import frc.robot.Robot;
import frc.robot.commands.*;

/**
* Add your docs here.
*/
public class Telemetry extends Subsystem {
  // Put methods for controlling this subsystem
  // here. Call these from Commands.

  public Telemetry() {
        // Drivetrain
        SmartDashboard.putData("Reset Drive Encoder", new DriveResetEncoder());

        // Shooter
    SmartDashboard.putData("Shooter Up", new ShooterUp());
        SmartDashboard.putData("Shooter Down", new ShooterDown());
        SmartDashboard.putData("Shooter Up Auto", new ShooterUpAuto());
  }

  public void update() {
        // Drivetrain
        SmartDashboard.putNumber("Drive Encoder Count", Robot.m_drivetrain.getDriveEncoderCount());

        // Shooter
        SmartDashboard.putBoolean("Shooter Switch", Robot.m_shooter.isShooterSwitchClosed());
  }

  @Override
  public void initDefaultCommand() {
        // Set the default command for a subsystem here.
        // setDefaultCommand(new MySpecialCommand());
  }
}

Adding The Telemetry Subsystem to Robot.java#

1) When adding Telemetry to Robot.java, in robotInit we must add Telemetry after the other subsystems

This is because the Telemetry subsystem relies on methods that are created in other subsystems before it
It can be added before or after OI since they don’t use methods from each other

2) It is important that we add the update method to disabledPeriodic, autonomousPeriodic, and teleopPeriodic so that the Shuffleboard is always being updated with information on our sensors.

Example

The code you typed before robotInit should be this

public static Telemetry m_telemetry;

The code you typed in robotInit should be this

m_telemetry = new Telemetry(); //This must be initialized after all other robot subsystems

The code you typed in disabledPeriodic, autonomousPeriodic, and teleopPeriodic should be this

Robot.m_telemetry.update();

Testing Shuffleboard#

After saving and deploying code, open the driver station
Click the gear on the left side and configure your team number and set the dashboard type to “ShuffleBoard”
If you are still connected to the robot you should see boxes for the buttons and data we added in Telemetry