Driver dashboard alerts #51
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| @@ -122,6 +124,7 @@ public void robotPeriodic() { | |||
| // the Command-based framework to work. | |||
| CommandScheduler.getInstance().run(); | |||
| if (Constants.currentMode == Constants.Mode.REAL) robotContainer.odometrySignalRefresher.periodic(); | |||
| AlertManager.getInstance().update(); | |||
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Does this take any considerable amount of time with the NT stuff? (wpilib apparently has profiling tools somewhere)
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The alerts don't publish very much stuff to NT, so this shouldn't take a significant amount of time. We could profile it if we see loop overruns because of SmartDashboard.updateValues(). I can take a look at this when a test on the robot.
| inputs.driveMotorConnected = BaseStatusSignal.refreshAll( | ||
| driveVelocity, | ||
| driveAppliedVolts, | ||
| driveCurrent, | ||
| driveTempCelsius, | ||
| turnAbsolutePosition, | ||
| driveTempCelsius).isOK(); | ||
| inputs.turnMotorConnected = BaseStatusSignal.refreshAll( | ||
| turnVelocity, | ||
| turnAppliedVolts, | ||
| turnCurrent, | ||
| turnTempCelsius); | ||
| turnTempCelsius).isOK(); | ||
| inputs.turnEncoderConnected = BaseStatusSignal.refreshAll(turnAbsolutePosition).isOK(); |
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This provides a performance improvement over separately calling refresh() on each signal.
Javadoc says that ^, do we know if it's enough to matter on the 250hz bus?
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Refresh is a non-blocking call, so the performance improvement is probably minimal. These signals are being update at 50hz, only drive and turn position are on 250hz
Adds an alert display to the driver dashboard, allows drivers to see issues that the robot has detected (motor/camera disconnected, CAN bus disconnected, low battery, etc.). Only works on Elastic or Shuffleboard. Functionality of CAN error detection still needs to be to be tested on actual robot.
Alerts look like this:
(make your best guess as to where most of this code came from, it certainly was not me)