Telemetry/Sendable Improvement Feedback Thread

In the hopes of providing teams with better telemetry data going into the 2022 season, I’m currently working on an expansion of WPILib’s Sendable functionality - both in terms of the richness of the data sent by existing Sendable implementations (e.g. PIDController, SpeedController, various Commands), and by extending Sendable functionality to classes that currently do not send any telemetry (e.g. RamseteController and the various Feedforward classes).

If there are any classes that currently do not implement Sendable that you would like to see do so, please respond in this thread with a brief explanation of what telemetry you’d like to see and why.

Edit: It seems I forgot to link to the pull request.

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Here’s a list of classes that are currently being improved in the PR, along with the telemetry that will be sent from them. Properties marked with (read, write) are both viewable and settable from NetworkTables/Shuffleboard, while properties marked with (read) can only be viewed.

PIDController:

  • kP (read, write)
  • kI (read, write)
  • kD (read, write)
  • positionTolerance (read, write)
  • velocityTolerance (read, write)
  • setpoint (read, write)
  • measurement (read)
  • positionError (read)
  • velocityError (read)
  • atSetpoint (read)

ProfiledPIDController:

  • kP (read, write)
  • kI (read, write)
  • kD (read, write)
  • maxVelocity (read, write)
  • maxAcceleration (read, write)
  • positionTolerance (read, write)
  • velocityTolerance (read, write)
  • goal (read, write)
  • goalVelocity (read)
  • setpoint (read)
  • measurement (read)
  • positionError (read)
  • velocityError (read)
  • atSetpoint (read)

RamseteController:

  • b (read, write)
  • zeta (read, write)
  • toleranceX (read, write)
  • toleranceY (read, write)
  • toleranceDegrees (read, write)
  • referenceX (read)
  • referenceY (read)
  • referenceDegrees (read)
  • measurementX (read)
  • measurementY (read)
  • measurementDegrees (read)
  • errorX (read)
  • errorY (read)
  • errorDegrees (read)
  • atReference (read)

HolonomicDriveController:

  • toleranceX (read, write)
  • toleranceY (read, write)
  • toleranceDegrees (read, write)
  • referenceX (read)
  • referenceY (read)
  • referenceDegrees (read)
  • measurementX (read)
  • measurementY (read)
  • measurementDegrees (read)
  • errorX (read)
  • errorY (read)
  • errorDegrees (read)
  • atReference (read)

SimpleMotorFeedforward:

  • kS (read, write)
  • kV (read, write)
  • kA (read, write)
  • velocity (read)
  • velocity output (read)
  • acceleration (read)
  • acceleration output (read)
  • output (read)

ElevatorFeedforward:

  • kS (read, write)
  • kG (read, write)
  • kV (read, write)
  • kA (read, write)
  • velocity (read)
  • velocity output (read)
  • acceleration (read)
  • acceleration output (read)
  • output (read)

ArmFeedforward:

  • kS (read, write)
  • kG (read, write)
  • kV (read, write)
  • kA (read, write)
  • velocity (read)
  • velocity output (read)
  • acceleration (read)
  • acceleration output (read)
  • angle (read)
  • gravity output (read)
  • output (read)

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