all smart dashboard enable/disable besides autopicker

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a1d15bcc0a09d3ab5896caf88f568c28cabb4a48..dd147dc299a59822347b842491304e27c3d6e7b6 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -102,9 +102,11 @@ public class RobotContainer {
    */
   public RobotContainer(RobotId robotId) {
     // display the current robot id on smartdashboard
-    SmartDashboard.putString("RobotID", robotId.toString());
+    if (!Constants.DISABLE_SMART_DASHBOARD) {
+      SmartDashboard.putString("RobotID", robotId.toString());
 
-    SmartDashboard.putNumber("Match Time", 0.0);
+      SmartDashboard.putNumber("Match Time", 0.0);
+    }
 
     // Filling the SendableChooser on SmartDashboard
 
@@ -190,7 +192,9 @@ public class RobotContainer {
     LiveWindow.disableAllTelemetry();
     LiveWindow.setEnabled(false);
 
-    SmartDashboard.putData("Shutdown Orange Pis", new ShutdownAllPis());
+    if (!Constants.DISABLE_SMART_DASHBOARD) {
+      SmartDashboard.putData("Shutdown Orange Pis", new ShutdownAllPis());
+    }
   }
 
   /**
@@ -404,12 +408,18 @@ public class RobotContainer {
       double elapsed = matchTimer.get();
       countdownTime = Math.max(0, currentPhaseDuration - elapsed);
     }
-    SmartDashboard.putNumber("Phase Countdown", countdownTime);
-    SmartDashboard.putString("Current Phase", currentPhase);
+    if (!Constants.DISABLE_SMART_DASHBOARD) {
+      SmartDashboard.putNumber("Phase Countdown", countdownTime);
+      SmartDashboard.putString("Current Phase", currentPhase);
+    }
     
     if (matchTime > 0) {
-      SmartDashboard.putNumber("Match Time", matchTime);
+      if (!Constants.DISABLE_SMART_DASHBOARD) {
+        SmartDashboard.putNumber("Match Time", matchTime);
+      }
+    }
+    if (!Constants.DISABLE_SMART_DASHBOARD) {
+      SmartDashboard.putString("Alliance", DriverStation.getAlliance().toString());
     }
-    SmartDashboard.putString("Alliance", DriverStation.getAlliance().toString());
   }
 }

diff --git a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
index a99c5c672894535faa772996fec494816ee973b8..1e5d23a512120d9aa0f3e1e55e1186592306f40b 100644 (file)
--- a/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
+++ b/src/main/java/frc/robot/commands/drive_comm/DefaultDriveCommand.java
@@ -42,7 +42,9 @@ public class DefaultDriveCommand extends Command {
         trenchAssistPid.setIZone(2);
         trenchAssistPid.setIntegratorRange(-1, 1);
 
-        SmartDashboard.putNumber("0 degrees snap location", 0);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putNumber("0 degrees snap location", 0);
+        }
     }
 
     @Override
@@ -96,7 +98,7 @@ public class DefaultDriveCommand extends Command {
         if (!Constants.DISABLE_LOGGING) {
             Logger.recordOutput("TrenchAssist", swerve.getTrenchAssist());
         }
-        
+
         if (swerve.getTrenchAssist()) {
             drive(TrenchAssist.calculate(swerve, corrected, trenchAssistPid));
         } else {

diff --git a/src/main/java/frc/robot/commands/gpm/HardstopWarning.java b/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
index 4f0107f68dcc654c0b409efcb8fb4532c3cecec4..a1fd2f1610f00f81336434e9a5662e14e69d174d 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
+++ b/src/main/java/frc/robot/commands/gpm/HardstopWarning.java
@@ -2,6 +2,7 @@ package frc.robot.commands.gpm;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.Constants;
 import frc.robot.constants.IntakeConstants;
 import frc.robot.subsystems.Intake.Intake;
 import frc.robot.subsystems.hood.Hood;
@@ -24,8 +25,10 @@ public class HardstopWarning extends Command {
        @Override
        public void execute() {
                double epsilon = 0.05;
-               SmartDashboard.putBoolean("Hood OK", hood.getPositionDeg() >= HoodConstants.MIN_ANGLE - epsilon);
-               SmartDashboard.putBoolean("Intake OK", intake.getPosition() >= IntakeConstants.STARTING_POINT - epsilon);
+               if (!Constants.DISABLE_SMART_DASHBOARD) {
+                       SmartDashboard.putBoolean("Hood OK", hood.getPositionDeg() >= HoodConstants.MIN_ANGLE - epsilon);
+                       SmartDashboard.putBoolean("Intake OK", intake.getPosition() >= IntakeConstants.STARTING_POINT - epsilon);
+               }
        }
 
        @Override

diff --git a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
index d73cfe5a312088a4edd271d1dc79fc138b3dc57e..4a6ac7c6d1216137bfea72b1ddd70fe865068d3a 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
+++ b/src/main/java/frc/robot/commands/gpm/RunSpindexer.java
@@ -5,6 +5,7 @@ import edu.wpi.first.math.filter.Debouncer.DebounceType;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.Constants;
 import frc.robot.subsystems.hood.Hood;
 import frc.robot.subsystems.spindexer.Spindexer;
 import frc.robot.subsystems.spindexer.SpindexerConstants;
@@ -68,7 +69,9 @@ public class RunSpindexer extends Command {
                 reversing = false;
             }
         }
-        SmartDashboard.putBoolean("Spindexer Jamming", reversing);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putBoolean("Spindexer Jamming", reversing);
+        }
     }
 
     @Override

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index c2a34d13e86f3cdbad1e4d46862745e02d5e11ff..02ca9145b4c0d169d6a859967f07af6f3f97f38b 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -152,9 +152,11 @@ public class Superstructure extends Command {
             Logger.recordOutput("Turret/Target Pose", target);
             Logger.recordOutput("Lookahead Pose", lookaheadPose);
         }
-        SmartDashboard.putNumber("Time of flight", timeOfFlight);
-        SmartDashboard.putNumber("Turret X-Velocity", turretVelocityX);
-        SmartDashboard.putNumber("Turret Y-Velocity", turretVelocityY);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putNumber("Time of flight", timeOfFlight);
+            SmartDashboard.putNumber("Turret X-Velocity", turretVelocityX);
+            SmartDashboard.putNumber("Turret Y-Velocity", turretVelocityY);
+        }
 
         // Subtract the rotational angle of the robot from the setpoint
         double adjustedTurretSetpoint = MathUtil.angleModulus(turretAngle.getRadians() - drivepose.getRotation().getRadians());
@@ -231,12 +233,19 @@ public class Superstructure extends Command {
 
     @Override
     public void execute() {
-        TOFAdjustment = SmartDashboard.getNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
-        SmartDashboard.putNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
-        hoodOffset = SmartDashboard.getNumber("OPERATOR: Hood Offset", hoodOffset);
-        SmartDashboard.putNumber("OPERATOR: Hood Offset", hoodOffset);
-        turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset);
-        SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            TOFAdjustment = SmartDashboard.getNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
+            SmartDashboard.putNumber("OPERATOR: TOF Adjustment", TOFAdjustment);
+            hoodOffset = SmartDashboard.getNumber("OPERATOR: Hood Offset", hoodOffset);
+            SmartDashboard.putNumber("OPERATOR: Hood Offset", hoodOffset);
+            turretOffset = SmartDashboard.getNumber("OPERATOR: Turret Offset", turretOffset);
+            SmartDashboard.putNumber("OPERATOR: Turret Offset", turretOffset);
+        } else {
+            TOFAdjustment = 0.0;
+            hoodOffset = 0.0;
+            turretOffset = 0.0;
+        }
+        
         // Phase manager stuff
         phaseManager.update(drivepose, shooter, turret);
         target = phaseManager.getTarget(drivepose);
@@ -289,13 +298,16 @@ public class Superstructure extends Command {
             
             Logger.recordOutput("DistanceToTarget", target.getDistance(drivepose.getTranslation()));
         }
-        
-
-        SmartDashboard.putString("Phase Manager State", phaseManager.getCurrentState().toString());
 
         // for operator
-        phaseDelay = SmartDashboard.getNumber("OPERATOR: Phase Delay", phaseDelay);
-        SmartDashboard.putNumber("OPERATOR: Phase Delay", phaseDelay);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putString("Phase Manager State", phaseManager.getCurrentState().toString());
+            
+            phaseDelay = SmartDashboard.getNumber("OPERATOR: Phase Delay", phaseDelay);
+            SmartDashboard.putNumber("OPERATOR: Phase Delay", phaseDelay);
+        } else {
+            phaseDelay = 0.03;
+        }
     }
 
     @Override

diff --git a/src/main/java/frc/robot/commands/vision/TestVisionDistance.java b/src/main/java/frc/robot/commands/vision/TestVisionDistance.java
index 91e6c40bd18df9a46b39c65804129d19330406ad..f974005e19fe2d78eef05a56b55dde566585ee74 100644 (file)
--- a/src/main/java/frc/robot/commands/vision/TestVisionDistance.java
+++ b/src/main/java/frc/robot/commands/vision/TestVisionDistance.java
@@ -5,6 +5,7 @@ import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.Constants;
 import frc.robot.subsystems.drivetrain.Drivetrain;
 import frc.robot.util.Vision.Vision;
 
@@ -77,10 +78,13 @@ public class TestVisionDistance extends Command {
       endTimer.reset();
       driveDistance = drive.getPose().getTranslation().getDistance(driveStartTranslation);
       visionDistance = currentPose.getTranslation().getDistance(visionStartTranslation);
-      SmartDashboard.putNumber("Vision test drive distance", driveDistance);
-      SmartDashboard.putNumber("Vision test vision distnace", visionDistance);
-      SmartDashboard.putNumber("Vision test error", visionDistance - driveDistance);
-      SmartDashboard.putNumber("Vision test % error", (visionDistance-driveDistance) / driveDistance * 100);
+      if (!Constants.DISABLE_SMART_DASHBOARD) {
+        SmartDashboard.putNumber("Vision test drive distance", driveDistance);
+        SmartDashboard.putNumber("Vision test vision distnace", visionDistance);
+        SmartDashboard.putNumber("Vision test error", visionDistance - driveDistance);
+        SmartDashboard.putNumber("Vision test % error", (visionDistance-driveDistance) / driveDistance * 100);
+      }
+
       // If kPrintDelay seconds have passed, print the data
       if (printTimer.advanceIfElapsed(PRINT_DELAY)) {
         System.out.printf("\nDrive dist: %.2f\nVision dist: %.2f\nError: %.2f\n %% error: %.2f\n",

diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java
index 3c1e2dd8e940d563790d22e5866916c232eb1fc1..50d053062093d92bb69953a7af306d96d916ffd6 100644 (file)
--- a/src/main/java/frc/robot/constants/Constants.java
+++ b/src/main/java/frc/robot/constants/Constants.java
@@ -22,6 +22,7 @@ public class Constants {
 
     // this would disable all logger calls
     public static final boolean DISABLE_LOGGING = false;
+    public static final boolean DISABLE_SMART_DASHBOARD = false; // wont disable auto picker
 
     public static enum Mode {
         /** Running on a real robot. */

diff --git a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
index f5059174dcc970637fb393a22e8bf80f3bb61d40..0e2aa312c1b1bb683efd8039a0531979458fd9ec 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
+++ b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
@@ -56,10 +56,12 @@ public class LinearClimb extends SubsystemBase implements LinearClimbIO {
 
         setCurrentLimits(ClimbConstants.CALIBRATION_CURRENT);
 
-        SmartDashboard.putData("Calibrate", new InstantCommand(() -> hardstopCalibration()));
-        SmartDashboard.putData("Go Up", new InstantCommand(() -> goUp())); // 0
-        SmartDashboard.putData("Go Down", new InstantCommand(() -> retract())); // 8
-        SmartDashboard.putData("Climb", new InstantCommand(() -> climbPosition())); // 6
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putData("Calibrate", new InstantCommand(() -> hardstopCalibration()));
+            SmartDashboard.putData("Go Up", new InstantCommand(() -> goUp())); // 0
+            SmartDashboard.putData("Go Down", new InstantCommand(() -> retract())); // 8
+            SmartDashboard.putData("Climb", new InstantCommand(() -> climbPosition())); // 6
+        }
 
         // starting position
         motor.setPosition(metersToRotations(ClimbConstants.BOTTOM_POSITION));
@@ -148,13 +150,15 @@ public class LinearClimb extends SubsystemBase implements LinearClimbIO {
             }
         }
 
-        // motor.set(power); // during calibration we have 20ms of high power before we stop calibration
-        SmartDashboard.putNumber("Climb Power from PID", power);
-        SmartDashboard.putNumber("Climb PID_Setpoint_Rotations", pid.getSetpoint());
-        SmartDashboard.putNumber("Climb Motor_Actual_Rotations", motor.getPosition().getValueAsDouble());
-        SmartDashboard.putNumber("Climb Motor_Actual_Meters", inputs.positionMeters);
-        SmartDashboard.putBoolean("Climb Calibrated", !calibrating);
-        SmartDashboard.putBoolean("Climb At Setpoint", atSetPoint());
+        // motor.set(power); // during calibration we have 20ms of high power before we stop calibration\
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putNumber("Climb Power from PID", power);
+            SmartDashboard.putNumber("Climb PID_Setpoint_Rotations", pid.getSetpoint());
+            SmartDashboard.putNumber("Climb Motor_Actual_Rotations", motor.getPosition().getValueAsDouble());
+            SmartDashboard.putNumber("Climb Motor_Actual_Meters", inputs.positionMeters);
+            SmartDashboard.putBoolean("Climb Calibrated", !calibrating);
+            SmartDashboard.putBoolean("Climb At Setpoint", atSetPoint());
+        }
 
         if (!Constants.DISABLE_LOGGING) {
             Logger.recordOutput("LinearClimb setpointMeters", Units.rotationsToRadians(pid.getSetpoint())

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 488fef52b5919dc321fcfec2cbb2c1cde99203ea..340394df1bd3701c8271ccfd39ec5f36af2bcf53 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -153,11 +153,13 @@ public class Intake extends SubsystemBase implements IntakeIO{
         robotExtension = robotHeight.append(new MechanismLigament2d("Robot Extension", 0, 90, 2, new Color8Bit(255, 0, 0) ));
 
         // add some test commands.
-        SmartDashboard.putData("Extension Mechanism", mechanism);
-        SmartDashboard.putData("Intake Calibrate", new InstantCommand(() -> calibrate()));
-        SmartDashboard.putData("Intake Stop Calibrating", new InstantCommand(() -> stopCalibrating()));
-        SmartDashboard.putData("Extend Intake", new InstantCommand(() -> extend()));
-        SmartDashboard.putData("Retract Intake", new InstantCommand(() -> retract()));
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putData("Extension Mechanism", mechanism);
+            SmartDashboard.putData("Intake Calibrate", new InstantCommand(() -> calibrate()));
+            SmartDashboard.putData("Intake Stop Calibrating", new InstantCommand(() -> stopCalibrating()));
+            SmartDashboard.putData("Extend Intake", new InstantCommand(() -> extend()));
+            SmartDashboard.putData("Retract Intake", new InstantCommand(() -> retract()));
+        }
         
         if (RobotBase.isSimulation()) {
             // Extender simulation
@@ -194,9 +196,10 @@ public class Intake extends SubsystemBase implements IntakeIO{
             Logger.recordOutput("Intake/Setpoint", setpointInches);
             robotExtension.setLength(inchExtension);
         }
-
-        SmartDashboard.putNumber("Intake Extension (in)", inchExtension);
-        SmartDashboard.putBoolean("Intake Extended", inchExtension > 1.0);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putNumber("Intake Extension (in)", inchExtension);
+            SmartDashboard.putBoolean("Intake Extended", inchExtension > 1.0);
+        }
 
         if(calibrating){
             leftMotor.set(-0.1);
@@ -212,8 +215,10 @@ public class Intake extends SubsystemBase implements IntakeIO{
             Logger.processInputs("Intake", inputs);
         }
 
-        SmartDashboard.putBoolean("Intake Calibrated", !calibrating);
-        SmartDashboard.putBoolean("Intake At Setpoint", Math.abs(inchExtension - setpointInches) < 0.5);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putBoolean("Intake Calibrated", !calibrating);
+            SmartDashboard.putBoolean("Intake At Setpoint", Math.abs(inchExtension - setpointInches) < 0.5);
+        }
     }
 
     public void simulationPeriodic(){

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 4415c8a8928f5abdc250cac6595b99081fc42257..bb54ac8507aa6cfd03e43b1eddbaf57bd92077c2 100644 (file)
--- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@ -186,8 +186,9 @@ public class Drivetrain extends SubsystemBase {
                 });
 
         // PPLibTelemetry.enableCompetitionMode();
-
-        SmartDashboard.putData("Field", field);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putData("Field", field);
+        }
     }
 
     public void close() {

diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index 34425fab515cdc7b00dae05fa7a80aca140ec972..bbc3010ffbc349387ea8713cc47aaee9b99f36ba 100644 (file)
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -61,12 +61,14 @@ public class Hood extends SubsystemBase implements HoodIO {
 
                motor.setPosition(Units.degreesToRotations(HoodConstants.MAX_ANGLE) * HoodConstants.HOOD_GEAR_RATIO);
 
-               SmartDashboard.putData("max", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MAX_ANGLE)), 0)));
-               SmartDashboard.putData("medium", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians((HoodConstants.MAX_ANGLE + HoodConstants.MIN_ANGLE) / 2)), 0)));
-               SmartDashboard.putData("min", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MIN_ANGLE)), 0)));
-               
-               SmartDashboard.putData("force hood down", new InstantCommand(() -> forceHoodDown(true)));
-               SmartDashboard.putData("unforce hood", new InstantCommand(() -> forceHoodDown(false)));
+               if (!Constants.DISABLE_SMART_DASHBOARD) {
+                       SmartDashboard.putData("max", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MAX_ANGLE)), 0)));
+                       SmartDashboard.putData("medium", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians((HoodConstants.MAX_ANGLE + HoodConstants.MIN_ANGLE) / 2)), 0)));
+                       SmartDashboard.putData("min", new InstantCommand(() -> setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(HoodConstants.MIN_ANGLE)), 0)));
+                               
+                       SmartDashboard.putData("force hood down", new InstantCommand(() -> forceHoodDown(true)));
+                       SmartDashboard.putData("unforce hood", new InstantCommand(() -> forceHoodDown(false)));
+               }
        }
 
        /**
@@ -158,10 +160,11 @@ public class Hood extends SubsystemBase implements HoodIO {
             Logger.recordOutput("Hood/velocitySetpoint", goalVelocityRadPerSec / HoodConstants.HOOD_GEAR_RATIO);
             Logger.recordOutput("Hood/SetpointDeg", Units.radiansToDegrees(goalAngle.getRadians()));
         }
-
-               SmartDashboard.putBoolean("Hood Calibrated", !calibrating);
-               SmartDashboard.putBoolean("Hood At Setpoint", Math.abs(getPositionDeg() - goalAngle.getDegrees()) < 2.0);
-
+               
+               if (!Constants.DISABLE_SMART_DASHBOARD) {
+                       SmartDashboard.putBoolean("Hood Calibrated", !calibrating);
+                       SmartDashboard.putBoolean("Hood At Setpoint", Math.abs(getPositionDeg() - goalAngle.getDegrees()) < 2.0);
+               }
        }
 
        public void calibrate(){

diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 0e21a819b00201f147e6eb4e747cbfd6a6f4d2ed..376de5d9ef1cd35fb62d22cfe7dd4aecc6332ed8 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -68,8 +68,10 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         shooterMotorLeft.getConfigurator().apply(limitConfig);
         shooterMotorRight.getConfigurator().apply(limitConfig);
 
-        SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
-        SmartDashboard.putData("Turn on shooter", new InstantCommand(()-> setShooter(12.0)));
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+            SmartDashboard.putData("Turn on shooter", new InstantCommand(()-> setShooter(12.0)));
+        }
     }
 
     @Override
@@ -79,15 +81,18 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         // shooterTargetSpeed = SmartDashboard.getNumber("Shooter Setpoint", shooterTargetSpeed);
         // SmartDashboard.putNumber("Shooter Setpoint", shooterTargetSpeed);
 
-        powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
-        SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        if (!Constants.DISABLE_SMART_DASHBOARD) { // yes I could put this in one, but more lines for me
+            powerModifier = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+            SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", powerModifier);
+        }
         
         // Convert to RPS
         double targetVelocityRPS = Units.radiansToRotations(shooterTargetSpeed / (ShooterConstants.SHOOTER_LAUNCH_DIAMETER/2)) * powerModifier;
 
-
-        SmartDashboard.putNumber("Target Velocity RPS", targetVelocityRPS);
-        SmartDashboard.putNumber("Shooter Motor RPS", shooterMotorLeft.getVelocity().getValueAsDouble());
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putNumber("Target Velocity RPS", targetVelocityRPS);
+            SmartDashboard.putNumber("Shooter Motor RPS", shooterMotorLeft.getVelocity().getValueAsDouble());
+        }
 
         // Sets the motor control to target velocity
         shooterMotorLeft.setControl(voltageRequest.withVelocity(targetVelocityRPS));
@@ -100,11 +105,12 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
         double actualWheelVelocity = shooterMotorLeft.getVelocity().getValueAsDouble() * ShooterConstants.SHOOTER_LAUNCH_DIAMETER;
         
-        SmartDashboard.putNumber("Shooter Speed Error (mps)", shooterTargetSpeed - actualWheelVelocity);
-        SmartDashboard.putString("WON AUTO?", (HubActive.wonAuto()) ? "WON" : "LOST");
-        SmartDashboard.putBoolean("Shooter At Speed", atTargetSpeed());
-        SmartDashboard.putBoolean("Shooter Running", shooterTargetSpeed > 0);
-
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putNumber("Shooter Speed Error (mps)", shooterTargetSpeed - actualWheelVelocity);
+            SmartDashboard.putString("WON AUTO?", (HubActive.wonAuto()) ? "WON" : "LOST");
+            SmartDashboard.putBoolean("Shooter At Speed", atTargetSpeed());
+            SmartDashboard.putBoolean("Shooter Running", shooterTargetSpeed > 0);
+        }
     }
 
     /**

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index b24f30e04bfd9a11a7f2c9d1823ffaa366d1c77a..9825fb842a5a53974cd179ffaf5424672b06bc90 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -33,9 +33,11 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         limitConfig.SupplyCurrentLowerTime = 1.5;
         motor.getConfigurator().apply(limitConfig);
 
-        SmartDashboard.putData("Spindexer Run Forward", new InstantCommand(() -> maxSpindexer()));
-        SmartDashboard.putData("Spindexer Run Reverse", new InstantCommand(() -> reverseSpindexer()));
-        SmartDashboard.putData("Spindexer Stop", new InstantCommand(() -> stopSpindexer()));
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putData("Spindexer Run Forward", new InstantCommand(() -> maxSpindexer()));
+            SmartDashboard.putData("Spindexer Run Reverse", new InstantCommand(() -> reverseSpindexer()));
+            SmartDashboard.putData("Spindexer Stop", new InstantCommand(() -> stopSpindexer()));
+        }
 
         resetPID.setTolerance(0.05);
     }
@@ -79,10 +81,12 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
 
         // scale threshold based on power
         double velocityThreshold = SpindexerConstants.spindexerVelocityWithBall * power;
-        SmartDashboard.putNumber("Spindexer Ball Count", ballCount);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putNumber("Spindexer Ball Count", ballCount);
 
-        SmartDashboard.putBoolean("Spindexer Running", state == SpindexerState.MAX || state == SpindexerState.CUSTOM);
-        SmartDashboard.putBoolean("Spindexer Has Ball", ballCount > 0);
+            SmartDashboard.putBoolean("Spindexer Running", state == SpindexerState.MAX || state == SpindexerState.CUSTOM);
+            SmartDashboard.putBoolean("Spindexer Has Ball", ballCount > 0);
+        }
 
         boolean isSpindexerSlow = inputs.spindexerVelocity < velocityThreshold;
         if (wasSpindexerSlow && !isSpindexerSlow && power > 0.1) {
@@ -90,7 +94,9 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         }
         wasSpindexerSlow = isSpindexerSlow;
 
-        SmartDashboard.putBoolean("Spindexer Jamming", state == SpindexerState.REVERSE);
+        if (!Constants.DISABLE_SMART_DASHBOARD) {
+            SmartDashboard.putBoolean("Spindexer Jamming", state == SpindexerState.REVERSE);
+        }
     }
 
     public void maxSpindexer() {

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 82a2502fc0fa479e256fc8bdc9f4095cafcce691..ebc3f6531f6f277c436c099021ab003974356293 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -100,10 +100,12 @@ public class Turret extends SubsystemBase implements TurretIO{
                                        0.0);
                }
 
-               SmartDashboard.putData("Turret Mech", mech);
-               SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate()));
-               SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating()));
-               SmartDashboard.putData("Reset Turret Position to Zero", new InstantCommand(() -> resetTurretPosition()));
+               if (!Constants.DISABLE_SMART_DASHBOARD) {
+                       SmartDashboard.putData("Turret Mech", mech);
+                       SmartDashboard.putData("Start turret calibration", new InstantCommand(()-> calibrate()));
+                       SmartDashboard.putData("Stop turret calibration", new InstantCommand(()-> stopCalibrating()));
+                       SmartDashboard.putData("Reset Turret Position to Zero", new InstantCommand(() -> resetTurretPosition()));
+               }
 
                SendableChooser<InstantCommand> turretTestChooser = new SendableChooser<>();
                turretTestChooser.setDefaultOption("Turn to 0", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(0), 0.0)));
@@ -111,7 +113,10 @@ public class Turret extends SubsystemBase implements TurretIO{
                turretTestChooser.addOption("Turn to 90", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(90), 0.0)));
                turretTestChooser.addOption("Turn to 200", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(200), 0.0)));
                turretTestChooser.addOption("Turn to -200", new InstantCommand(()-> setFieldRelativeTarget(Rotation2d.fromDegrees(-200), 0.0)));
-               SmartDashboard.putData("Turret Test Positions", turretTestChooser);
+               
+               if (!Constants.DISABLE_SMART_DASHBOARD) {
+                       SmartDashboard.putData("Turret Test Positions", turretTestChooser);
+               }
                //motor.setPosition(Units.degreesToRotations(238.86) * TurretConstants.GEAR_RATIO);
 
                motor.setPosition(0.0);
@@ -231,9 +236,11 @@ public class Turret extends SubsystemBase implements TurretIO{
                        Logger.processInputs("Turret", inputs);
                }
 
-               SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
-               SmartDashboard.putBoolean("Turret Calibrated", !calibrating);
-               SmartDashboard.putBoolean("Turret At Setpoint", atSetpoint());
+               if (!Constants.DISABLE_SMART_DASHBOARD) {
+                       SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
+                       SmartDashboard.putBoolean("Turret Calibrated", !calibrating);
+                       SmartDashboard.putBoolean("Turret At Setpoint", atSetpoint());
+               }
        }
 
        /* ---------------- Simulation ---------------- */