Dashboard

.Glass/glass.json

@@ -1,6 +1,9 @@
 {
   "NetworkTables": {
     "transitory": {
+      "Faults": {
+        "open": true
+      },
       "Robot": {
         "drive": {
           "frontRight": {
@@ -49,6 +52,7 @@
       "/Robot/drive/rearRight/turnFeedback": "PIDController",
       "/Robot/drive/rotationController": "PIDController",
       "/Robot/drive/translationController": "ProfiledPIDController",
+      "/SmartDashboard/Alerts": "Alerts",
       "/SmartDashboard/Scheduler": "Scheduler",
       "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d",
       "/SmartDashboard/drive dynamic backward": "Command",
@@ -70,6 +74,9 @@
     }
   },
   "NetworkTables Info": {
+    "Clients": {
+      "open": true
+    },
     "visible": true
   },
   "NetworkTables Settings": {

simgui.json

@@ -104,6 +104,9 @@
       "open": false
     },
     "transitory": {
+      "Dashboard": {
+        "open": true
+      },
       "Robot": {
         "drive": {
           "Pose2d##v_/Robot/drive/getPose": {
@@ -180,16 +183,13 @@
         "vision": {
           "open": true
         }
-      },
-      "Shuffleboard": {
-        "open": true
-      },
-      "SmartDashboard": {
-        "open": true
       }
     }
   },
   "NetworkTables Info": {
+    "Clients": {
+      "open": true
+    },
     "visible": true
   },
   "Plot": {
@@ -202,7 +202,7 @@
             0.0,
             0.8500000238418579
           ],
-          "height": 405,
+          "height": 140,
           "series": [
             {
               "color": [

src/main/java/org/sciborgs1155/robot/Robot.java

@@ -31,6 +31,7 @@
 import org.sciborgs1155.lib.Test;
 import org.sciborgs1155.robot.Ports.OI;
 import org.sciborgs1155.robot.commands.Autos;
+import org.sciborgs1155.robot.commands.Dashboard;
 import org.sciborgs1155.robot.drive.Drive;
 import org.sciborgs1155.robot.elevator.Elevator;
 import org.sciborgs1155.robot.led.LEDStrip;
@@ -47,6 +48,7 @@ public class Robot extends CommandRobot implements Logged {
   // INPUT DEVICES
   private final CommandXboxController operator = new CommandXboxController(OI.OPERATOR);
   private final CommandXboxController driver = new CommandXboxController(OI.DRIVER);
+  private final Dashboard dashboard = new Dashboard();
 
   private final PowerDistribution pdh = new PowerDistribution();
 
@@ -153,6 +155,8 @@ private void configureBindings() {
         .onFalse(Commands.runOnce(() -> speedMultiplier = Constants.FULL_SPEED_MULTIPLIER));
 
     // TODO: Add any additional bindings.
+
+    dashboard.a().whileTrue(led.rainbow());
   }
 
   /**

src/main/java/org/sciborgs1155/robot/commands/Dashboard.java

@@ -0,0 +1,118 @@
+package org.sciborgs1155.robot.commands;
+
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import org.sciborgs1155.robot.Constants;
+
+/**
+ * Dashboard listens to NetworkTable information from the Reefscape-2025-Dashboard, which can be
+ * used as Triggers.
+ */
+public class Dashboard {
+  private final NetworkTable base;
+  private final NetworkTableEntry entryTargetBranch;
+  private final NetworkTableEntry entryTargetLevel;
+  private final NetworkTableEntry entryRobotConnected;
+  private final NetworkTableEntry entryBlueAlliance;
+
+  /** Creates a Dashboard object. */
+  public Dashboard() {
+    // setup NetworkTables
+    base = NetworkTableInstance.getDefault().getTable("Dashboard");
+    entryTargetBranch = base.getEntry("branch");
+    entryTargetBranch.setString("");
+    entryTargetLevel = base.getEntry("level");
+    entryTargetLevel.setInteger(0);
+    entryRobotConnected = base.getEntry("robotConnected");
+    entryRobotConnected.setBoolean(true);
+    entryBlueAlliance = base.getEntry("blueAlliance");
+    entryBlueAlliance.setBoolean(Constants.alliance() == Alliance.Blue);
+  }
+
+  /**
+   * Returns a Trigger, given a reef branch.
+   *
+   * @param branch the branch for the trigger (A-L)
+   * @return a Trigger for that branch
+   */
+  private Trigger setTriggerBranch(String branch) {
+    return new Trigger(() -> (branch.equals(entryTargetBranch.getString(""))));
+  }
+
+  /**
+   * Returns a Trigger, given a reef branch level.
+   *
+   * @param level the level for the trigger (1-4)
+   * @return a Trigger for that level
+   */
+  private Trigger setTriggerLevel(int level) {
+    return new Trigger(() -> (level == entryTargetLevel.getInteger(0)));
+  }
+
+  public Trigger a() {
+    return setTriggerBranch("A");
+  }
+
+  public Trigger b() {
+    return setTriggerBranch("B");
+  }
+
+  public Trigger c() {
+    return setTriggerBranch("C");
+  }
+
+  public Trigger d() {
+    return setTriggerBranch("D");
+  }
+
+  public Trigger e() {
+    return setTriggerBranch("E");
+  }
+
+  public Trigger f() {
+    return setTriggerBranch("F");
+  }
+
+  public Trigger g() {
+    return setTriggerBranch("G");
+  }
+
+  public Trigger h() {
+    return setTriggerBranch("H");
+  }
+
+  public Trigger i() {
+    return setTriggerBranch("I");
+  }
+
+  public Trigger j() {
+    return setTriggerBranch("J");
+  }
+
+  public Trigger k() {
+    return setTriggerBranch("K");
+  }
+
+  public Trigger l() {
+    return setTriggerBranch("L");
+  }
+
+  public Trigger level1() {
+    return setTriggerLevel(1);
+  }
+
+  public Trigger level2() {
+    return setTriggerLevel(2);
+  }
+
+  public Trigger level3() {
+    return setTriggerLevel(3);
+  }
+
+  public Trigger level4() {
+    return setTriggerLevel(4);
+  }
+}