Telemetry Class Reference

Public Member Functions
	__init__ (self, units.meters_per_second max_speed)
	telemeterize (self, swerve.SwerveDrivetrain.SwerveDriveState state)

Protected Attributes
	_drive_module_positions = self._drive_state_table.getStructArrayTopic("ModulePositions", SwerveModulePosition).publish()
	_drive_module_states = self._drive_state_table.getStructArrayTopic("ModuleStates", SwerveModuleState).publish()
	_drive_module_targets = self._drive_state_table.getStructArrayTopic("ModuleTargets", SwerveModuleState).publish()
	_drive_odometry_frequency = self._drive_state_table.getDoubleTopic("OdometryFrequency").publish()
	_drive_pose = self._drive_state_table.getStructTopic("Pose", Pose2d).publish()
	_drive_speeds = self._drive_state_table.getStructTopic("Speeds", ChassisSpeeds).publish()
	_drive_state_table = self._inst.getTable("DriveState")
	_drive_timestamp = self._drive_state_table.getDoubleTopic("Timestamp").publish()
	_field_pub = self._table.getDoubleArrayTopic("robotPose").publish()
	_field_type_pub = self._table.getStringTopic(".type").publish()
	_inst = NetworkTableInstance.getDefault()
	_max_speed = max_speed
list	_module_directions
list	_module_mechanisms
list	_module_speeds
	_table = self._inst.getTable("Pose")

Constructor & Destructor Documentation

__init__()

__init__	(		self,
		units.meters_per_second	max_speed )

Construct a telemetry object with the specified max speed of the robot.

:param max_speed: Maximum speed
:type max_speed: units.meters_per_second

Member Function Documentation

telemeterize()

telemeterize	(		self,
		swerve.SwerveDrivetrain.SwerveDriveState	state )

Accept the swerve drive state and telemeterize it to SmartDashboard and SignalLogger.

Member Data Documentation

_drive_module_positions

_drive_module_positions = self._drive_state_table.getStructArrayTopic("ModulePositions", SwerveModulePosition).publish()

protected

_drive_module_states

_drive_module_states = self._drive_state_table.getStructArrayTopic("ModuleStates", SwerveModuleState).publish()

protected

_drive_module_targets

_drive_module_targets = self._drive_state_table.getStructArrayTopic("ModuleTargets", SwerveModuleState).publish()

protected

_drive_odometry_frequency

_drive_odometry_frequency = self._drive_state_table.getDoubleTopic("OdometryFrequency").publish()

protected

_drive_pose

_drive_pose = self._drive_state_table.getStructTopic("Pose", Pose2d).publish()

protected

_drive_speeds

_drive_speeds = self._drive_state_table.getStructTopic("Speeds", ChassisSpeeds).publish()

protected

_drive_state_table

_drive_state_table = self._inst.getTable("DriveState")

protected

_drive_timestamp

_drive_timestamp = self._drive_state_table.getDoubleTopic("Timestamp").publish()

protected

_field_pub

_field_pub = self._table.getDoubleArrayTopic("robotPose").publish()

protected

_field_type_pub

_field_type_pub = self._table.getStringTopic(".type").publish()

protected

_inst

_inst = NetworkTableInstance.getDefault()

protected

_max_speed

_max_speed = max_speed

protected

_module_directions

list _module_directions

protected

Initial value:

=  [
            self._module_mechanisms[0]
            .getRoot("RootDirection", 0.5, 0.5)
            .appendLigament("Direction", 0.1, 0, 0, Color8Bit(Color.kWhite)),
            self._module_mechanisms[1]
            .getRoot("RootDirection", 0.5, 0.5)
            .appendLigament("Direction", 0.1, 0, 0, Color8Bit(Color.kWhite)),
            self._module_mechanisms[2]
            .getRoot("RootDirection", 0.5, 0.5)
            .appendLigament("Direction", 0.1, 0, 0, Color8Bit(Color.kWhite)),
            self._module_mechanisms[3]
            .getRoot("RootDirection", 0.5, 0.5)
            .appendLigament("Direction", 0.1, 0, 0, Color8Bit(Color.kWhite)),
        ]

_module_mechanisms

list _module_mechanisms

protected

Initial value:

=  [
            Mechanism2d(1, 1),
            Mechanism2d(1, 1),
            Mechanism2d(1, 1),
            Mechanism2d(1, 1),
        ]

_module_speeds

list _module_speeds

protected

Initial value:

=  [
            self._module_mechanisms[0]
            .getRoot("RootSpeed", 0.5, 0.5)
            .appendLigament("Speed", 0.5, 0),
            self._module_mechanisms[1]
            .getRoot("RootSpeed", 0.5, 0.5)
            .appendLigament("Speed", 0.5, 0),
            self._module_mechanisms[2]
            .getRoot("RootSpeed", 0.5, 0.5)
            .appendLigament("Speed", 0.5, 0),
            self._module_mechanisms[3]
            .getRoot("RootSpeed", 0.5, 0.5)
            .appendLigament("Speed", 0.5, 0),
        ]

_table

_table = self._inst.getTable("Pose")

protected

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The documentation for this class was generated from the following file:

• /home/axolotl/FRC-2025/telemetry.py