Custom actuators in LiveWindow?

Technical Programming
,
1

I am trying to devise a shim between a SparkMAX and test mode, but it doesn’t show up in LiveWindow. Yes, I did enableLiveWindowInTest(true);

This works (we’ve used it for several years):

package org.usfirst.frc3620.misc;

import com.revrobotics.CANSparkMax;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;

public class CANSparkMaxSendable extends CANSparkMax implements Sendable  {
    public CANSparkMaxSendable(int deviceId, MotorType motorType) {
        super(deviceId, motorType);

        SendableRegistry.addLW(this, "SparkMax", deviceId);
    }

    @Override
    public void initSendable(SendableBuilder builder) {
        builder.setSmartDashboardType("Motor Controller");
        builder.setActuator(true);
        builder.setSafeState(this::stopMotor);
        builder.addDoubleProperty("Value", this::get, this::set);
    }
}

This does not show up in the network tables:

package org.usfirst.frc3620.misc;

import org.apache.logging.log4j.Logger;
import org.usfirst.frc3620.logger.EventLogging;

import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;

/** Add your docs here. */
public class FakeMotor implements Sendable, MotorController {
    Logger logger = EventLogging.getLogger(this.getClass());
    int deviceId;
    double speed;
    boolean inverted;

    public FakeMotor(int deviceId) {
        this.deviceId = deviceId;
        speed = 0;
        inverted = false;
        SendableRegistry.addLW(this, "FakeMotor", deviceId);
    }

    @Override
    public void set(double speed) {
        this.speed = speed;
        logger.info ("FakeMotor[{}].set({})", deviceId, speed);
    }

    @Override
    public double get() {
        return speed;
    }

    @Override
    public void setInverted(boolean isInverted) {
        this.inverted = isInverted;
        logger.info ("FakeMotor[{}].setInverted({})", deviceId, isInverted);
    }

    @Override
    public boolean getInverted() {
        return this.inverted;
    }

    @Override
    public void disable() {
        logger.info ("FakeMotor[{}].disable()", deviceId);
    }

    @Override
    public void stopMotor() {
        logger.info ("FakeMotor[{}].stopMotor()", deviceId);
        this.speed = 0;
    }

    @Override
    public void initSendable(SendableBuilder builder) {
        builder.setSmartDashboardType("Motor Controller");
        builder.setActuator(true);
        builder.setSafeState(this::stopMotor);
        builder.addDoubleProperty("Value", this::get, this::set);
    }

}

My example subsystem:

package frc.robot.subsystems;

import org.usfirst.frc3620.misc.CANSparkMaxSendable;
import org.usfirst.frc3620.misc.FakeMotor;

import com.revrobotics.CANSparkLowLevel.MotorType;

import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class ExampleSubsystem extends SubsystemBase {
  FakeMotor motor;
  CANSparkMaxSendable max;
  public ExampleSubsystem() {
    motor = new FakeMotor(99);
    max = new CANSparkMaxSendable(11, MotorType.kBrushless);
    addChild("motor", motor);
    addChild("max", motor);
  }
}

What is the FakeMotor missing?

2

Your second addChild adds motor again instead of max but that might not be the problem.

3

I suspect what’s happening is OP did get the FakeMotor registered (twice) but it’s called max (last one wins).

4

yeah, that was a dumb mistake that I introduced in my example.

did some more testing (simulation, shuffleboard, added another motor):

  public ExampleSubsystem() {
    motor = new FakeMotor(99);
    max = new CANSparkMaxSendable(11, MotorType.kBrushless);
    max2 = new CANSparkMax(12, MotorType.kBrushless);
    CANSparkMaxSendableWrapper maxW = new CANSparkMaxSendableWrapper(max2);
    addChild("max", max);
    addChild("max3", motor);
    addChild("zmax2", maxW);
  }

max and zmax2 show up.

    addChild("ymax3", motor);
    addChild("max", max);
    addChild("zmax2", maxW);

all 3 show up.

    addChild("max3", motor);
    addChild("max", max);
    addChild("max2", maxW);

max and max2 show up.

Go back to:

    addChild("max", max);
    addChild("max3", motor);
    addChild("zmax2", maxW);

and we are back to max and zmax2 show up.

    addChild("max", max);
    addChild("ymax3", motor);
    addChild("zmax2", maxW);

All three show up.

Something funky having to do with initial part of names and ordering?

5

Did some more test. Shuffleboard is not always showing the same entries that OutlineViewer does; some of the LiveWindow/ stuff seems to be missing. I don’t think the problem was my Sendable, I think Shuffleboard may not be picking up stuff from test mode. I need to do more investigation, but right now, I have to go spin motors in test mode.