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added logging to choreo paths and also copied choreo config as it is …
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…in the ctre example
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@PGgit08
PGgit08 committed Jan 6, 2025
1 parent 9b4552e commit ff05cbf
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Showing 8 changed files with 229 additions and 150 deletions.
181 changes: 143 additions & 38 deletions advantagescope-layout-telemetry.json
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Original file line number Diff line number Diff line change
Expand Up @@ -13,19 +13,20 @@
"/Robot/Swerve/Desired Module States/0",
"/Robot/Swerve/Module States/0",
"/Robot/Swerve/Pose/translation",
"/Robot",
"/NT/Faults",
"/NT/Faults/Active Faults/errors",
"/NT/Faults/Active Faults",
"/Robot/Faults",
"/Robot/Faults/Counts",
"/Robot/Swerve",
"/Robot/Swerve/left-arducam",
"/Robot/Swerve/left-arducam/Estimate"
"/Robot/Swerve/left-arducam/Estimate",
"/Robot/Swerve/blue-arducam/Estimate",
"/Robot",
"/Robot/Swerve"
]
},
"tabs": {
"selected": 1,
"selected": 3,
"tabs": [
{
"type": 0,
Expand All @@ -35,6 +36,66 @@
"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",
Expand All @@ -61,7 +122,7 @@
"type": "ghost",
"logKey": "NT:/Robot/Swerve/Accepted Estimates",
"logType": "Pose3d[]",
"visible": true,
"visible": false,
"options": {
"color": "#00ff00"
}
Expand All @@ -70,13 +131,32 @@
"type": "ghost",
"logKey": "NT:/Robot/Swerve/Rejected Estimates",
"logType": "Pose3d[]",
"visible": true,
"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": "2024 Field",
"game": "2025 Field",
"bumpers": "auto",
"origin": "blue",
"orientation": 0,
Expand All @@ -87,63 +167,88 @@
"controlsHeight": 200
},
{
"type": 9,
"title": "Swerve",
"type": 3,
"title": "3D Field",
"controller": {
"sources": [
{
"type": "chassisSpeeds",
"logKey": "NT:/Robot/Swerve/Speeds",
"logType": "ChassisSpeeds",
"type": "trajectory",
"logKey": "NT:/Robot/Auto/Current Trajectory",
"logType": "Pose2d[]",
"visible": true,
"options": {
"color": "#ff0000"
"color": "#ff00ff",
"size": "normal"
}
},
{
"type": "chassisSpeeds",
"logKey": "NT:/Robot/Swerve/Desired Speeds",
"logType": "ChassisSpeeds",
"type": "ghost",
"logKey": "NT:/Robot/Auto/Current Trajectory Desired Pose",
"logType": "Pose2d",
"visible": true,
"options": {
"color": "#0000ff"
"model": "Crab Bot",
"color": "#ff00ff"
}
},
{
"type": "states",
"logKey": "NT:/Robot/Swerve/Module States",
"logType": "SwerveModuleState[]",
"type": "robot",
"logKey": "NT:/Robot/Swerve/Pose",
"logType": "Pose2d",
"visible": true,
"options": {
"color": "#ff0000",
"arrangement": "0,1,2,3"
"model": "Crab Bot"
}
},
{
"type": "states",
"logKey": "NT:/Robot/Swerve/Desired Module States",
"logType": "SwerveModuleState[]",
"type": "vision",
"logKey": "NT:/Robot/Swerve/Detected Tags",
"logType": "Pose3d[]",
"visible": true,
"options": {
"color": "#0000ff",
"arrangement": "0,1,2,3"
"color": "#00ff00",
"size": "normal"
}
},
{
"type": "rotation",
"logKey": "NT:/Robot/Swerve/Pose/rotation",
"logType": "Rotation2d",
"type": "ghost",
"logKey": "NT:/Robot/Swerve/Accepted Estimates",
"logType": "Pose3d[]",
"visible": true,
"options": {}
"options": {
"model": "Crab Bot",
"color": "#00ff00"
}
},
{
"type": "ghost",
"logKey": "NT:/Robot/Swerve/Rejected Estimates",
"logType": "Pose3d[]",
"visible": true,
"options": {
"model": "Crab Bot",
"color": "#ff0000"
}
}
],
"maxSpeed": 4.7,
"sizeX": 0.65,
"sizeY": 0.65,
"orientation": 1
"game": "2025 Field",
"origin": "blue"
},
"controllerUUID": "s72u8uqxhizena798en69qzlt8fabtzk",
"renderer": {
"cameraIndex": -1,
"orbitFov": 50,
"cameraPosition": [
-3.8929782247951725,
3.65017916178649,
-5.250724325879612
],
"cameraTarget": [
0,
0.5,
0
]
},
"controllerUUID": "tj8b7ik3e8qxcapobn65d8jzeb8a406h",
"renderer": null,
"controlsHeight": 200
}
]
Expand All @@ -152,5 +257,5 @@
}
],
"satellites": [],
"version": "4.0.0-beta-1"
"version": "4.1.0"
}
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