add sd postings

diff --git a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
index 9ca7708799a4fc6f7e526bf360757fffea639177..14d97d3c535643b55bcfd90c010b0eb8a76caca5 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
+++ b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
@@ -153,6 +153,8 @@ public class LinearClimb extends SubsystemBase implements LinearClimbIO {
         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());
 
         Logger.recordOutput("LinearClimb setpointMeters", Units.rotationsToRadians(pid.getSetpoint())
                 * ClimbConstants.WHEEL_RADIUS / ClimbConstants.CLIMB_GEAR_RATIO);

diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index f4bfdee22300249467f3dab37049bf8ed9da6d07..a01b87ed942f01306f970f152ff80e5783a134e2 100644 (file)
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
 import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.util.Color8Bit;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
@@ -147,6 +148,8 @@ public class Intake extends SubsystemBase implements IntakeIO{
 
         // add some test commands.
         SmartDashboard.putData("Extension Mechanism", mechanism);
+        SmartDashboard.putData("Intake Calibrate", new InstantCommand(() -> calibrate()));
+        SmartDashboard.putData("Intake Stop Calibrating", new InstantCommand(() -> stopCalibrating()));
 
         if (RobotBase.isSimulation()) {
             // Extender simulation
@@ -193,6 +196,9 @@ public class Intake extends SubsystemBase implements IntakeIO{
 
         updateInputs();
         Logger.processInputs("Intake", inputs);
+
+        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/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index 19591391cd0804fb1618d25a1217ac011889cb1c..a121173479f8955afa3c1a5bc2ea8ecc67cf04e1 100644 (file)
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -64,6 +64,9 @@ public class Hood extends SubsystemBase implements HoodIO {
                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("Hood Calibrate", new InstantCommand(() -> calibrate()));
+               SmartDashboard.putData("Hood Stop Calibrating", new InstantCommand(() -> stopCalibrating()));
     }
 
        /**
@@ -148,6 +151,9 @@ 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);
+
        }
 
        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 5e751e2e5409a74c54fe4d3c09b631d96f04c49d..71f6733be26f32145931143837e77e092e424c41 100644 (file)
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -81,7 +81,10 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         Logger.recordOutput("Shooter/realVelocity", shooterMotorLeft.getVelocity().getValueAsDouble() * ShooterConstants.SHOOTER_LAUNCH_DIAMETER);
         Logger.recordOutput("Shooter/targetVelocity", shooterTargetSpeed);
 
-        SmartDashboard.putString("WON AUTO?", (HubActive.wonAuto()) ? "WOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOON" : "lost");
+        SmartDashboard.putBoolean("Shooter At Speed", atTargetSpeed());
+        SmartDashboard.putBoolean("Shooter Running", shooterTargetSpeed > 0);
+
+        SmartDashboard.putString("WON AUTO?", (HubActive.wonAuto()) ? "WOOOOOOON" : "lost");
     }
 
     /**

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 53ed3e9cd251a00bf96e22c292f7c76b5abb1037..0f06b8ac8110bde6c8be5f81ee659287906e5bb1 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -6,6 +6,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import org.littletonrobotics.junction.Logger;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
@@ -28,6 +29,10 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         limitConfig.SupplyCurrentLowerLimit = SpindexerConstants.currentLimit;
         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()));
     }
 
     public enum SpindexerState {
@@ -56,6 +61,9 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         double velocityThreshold = SpindexerConstants.spindexerVelocityWithBall * power;
         SmartDashboard.putNumber("Spindexer Ball Count", ballCount);
 
+        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) {
             ballCount++;

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index 19d212dedbba57027bcb0de8f6c7c610c8f1554a..beb471f782ad06e98f2725ef944a10e38cfd6b3f 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -254,6 +254,9 @@ public class Turret extends SubsystemBase implements TurretIO{
                double turretRot = crt.solve(leftAbs, rightAbs); 
 
                SmartDashboard.putNumber("CRT Position", Units.rotationsToDegrees(turretRot));
+
+               SmartDashboard.putBoolean("Turret Calibrated", !calibrating);
+               SmartDashboard.putBoolean("Turret At Setpoint", atSetpoint());
        }
 
        /* ---------------- Simulation ---------------- */