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

@@ -19,11 +19,8 @@
       "/FMSInfo": "FMSInfo",
       "/Faults/Active Faults": "Alerts",
       "/Faults/Total Faults": "Alerts",
-<<<<<<< HEAD
       "/Robot/arm/armCanvas": "Mechanism2d",
       "/Robot/arm/fb": "ProfiledPIDController",
-=======
->>>>>>> main
       "/Robot/autos": "String Chooser",
       "/Robot/drive/field2d": "Field2d",
       "/Robot/drive/rotationController": "PIDController",
@@ -34,8 +31,6 @@
       "/SmartDashboard/Alerts": "Alerts",
       "/SmartDashboard/Scheduler": "Scheduler",
       "/SmartDashboard/VisionSystemSim-main/Sim Field": "Field2d",
-<<<<<<< HEAD
-=======
       "/SmartDashboard/drive dynamic backward": "Command",
       "/SmartDashboard/drive dynamic forward": "Command",
       "/SmartDashboard/drive quasistatic backward": "Command",
@@ -44,7 +39,6 @@
       "/SmartDashboard/pivot dynamic forward": "Command",
       "/SmartDashboard/pivot quasistatic backward": "Command",
       "/SmartDashboard/pivot quasistatic forward": "Command",
->>>>>>> main
       "/SmartDashboard/rotation dynamic backward": "Command",
       "/SmartDashboard/rotation dynamic forward": "Command",
       "/SmartDashboard/rotation quasistatic backward": "Command",
@@ -104,6 +98,9 @@
       "open": false
     },
     "transitory": {
+      "Dashboard": {
+        "open": true
+      },
       "Robot": {
         "drive": {
           "Pose2d##v_/Robot/drive/getPose": {
@@ -177,19 +174,20 @@
           },
           "open": true
         },
+        "open": true,
         "vision": {
           "open": true
         }
-      },
-      "Shuffleboard": {
-        "open": true
-      },
-      "SmartDashboard": {
-        "open": true
       }
     }
   },
   "NetworkTables Info": {
+    "Clients": {
+      "open": true
+    },
+    "example client@1": {
+      "open": true
+    },
     "visible": true
   },
   "Plot": {
@@ -202,11 +200,7 @@
             0.0,
             0.8500000238418579
           ],
-<<<<<<< HEAD
-          "height": 0,
-=======
-          "height": 405,
->>>>>>> main
+          "height": 354,
           "series": [
             {
               "color": [

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

@@ -9,6 +9,8 @@
 import static org.sciborgs1155.robot.Constants.DEADBAND;
 import static org.sciborgs1155.robot.Constants.Field.*;
 import static org.sciborgs1155.robot.Constants.PERIOD;
+import static org.sciborgs1155.robot.commands.Dashboard.Branches.*;
+import static org.sciborgs1155.robot.commands.Dashboard.Levels.*;
 import static org.sciborgs1155.robot.drive.DriveConstants.*;
 
 import edu.wpi.first.wpilibj.DataLogManager;
@@ -34,6 +36,7 @@
 import org.sciborgs1155.robot.Ports.OI;
 import org.sciborgs1155.robot.arm.Arm;
 import org.sciborgs1155.robot.commands.Autos;
+import org.sciborgs1155.robot.commands.Dashboard;
 import org.sciborgs1155.robot.coroller.Coroller;
 import org.sciborgs1155.robot.drive.Drive;
 import org.sciborgs1155.robot.elevator.Elevator;
@@ -82,6 +85,7 @@ private void configureGameBehavior() {
     // Configure logging with DataLogManager, Monologue, URCL, and FaultLogger
     DataLogManager.start();
     Monologue.setupMonologue(this, "/Robot", false, true);
+    Dashboard.configure();
     addPeriodic(Monologue::updateAll, PERIOD.in(Seconds));
     addPeriodic(FaultLogger::update, 2);
 
@@ -103,14 +107,22 @@ private void configureGameBehavior() {
       DriverStation.silenceJoystickConnectionWarning(true);
       addPeriodic(() -> vision.simulationPeriodic(drive.pose()), PERIOD.in(Seconds));
     }
+
+    addPeriodic(
+        () -> {
+          Dashboard.info.get("closestBranch").setString(drive.closestBranch());
+          Dashboard.tick();
+        },
+        PERIOD.in(Seconds));
+    // addPeriodic(() -> , PERIOD.in(Seconds));
   }
 
   /** Configures trigger -> command bindings. */
   private void configureBindings() {
-    operator.a().onTrue(elevator.scoreLevel(Level.L1));
-    operator.b().onTrue(elevator.scoreLevel(Level.L2));
-    operator.x().onTrue(elevator.scoreLevel(Level.L3));
-    operator.y().onTrue(elevator.scoreLevel(Level.L4));
+    L1.trigger.onTrue(elevator.scoreLevel(Level.L1));
+    L2.trigger.onTrue(elevator.scoreLevel(Level.L2));
+    L3.trigger.onTrue(elevator.scoreLevel(Level.L3));
+    L4.trigger.onTrue(elevator.scoreLevel(Level.L4));
 
     // x and y are switched: we use joystick Y axis to control field x motion
     InputStream x = InputStream.of(driver::getLeftY).negate();

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

@@ -0,0 +1,126 @@
+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 java.util.HashMap;
+import org.sciborgs1155.robot.Constants;
+
+/**
+ * Dashboard listens to NetworkTable information from the Reefscape-2025-Dashboard, which can be
+ * used as Triggers. Must call the configure() method.
+ */
+public class Dashboard {
+  private static NetworkTable base;
+  private static NetworkTableEntry entryTargetBranch;
+  private static NetworkTableEntry entryTargetLevel;
+  private static NetworkTableEntry entryProcessor;
+  private static NetworkTableEntry entryRobotTick;
+  private static int tick;
+  private static NetworkTableEntry entryBlueAlliance;
+  public static final HashMap<String, NetworkTableEntry> info = new HashMap<>();
+  public static Trigger processorTrigger;
+
+  /** Sets up the dashboard. */
+  public static void configure() {
+    base = NetworkTableInstance.getDefault().getTable("Dashboard");
+
+    entryTargetBranch = base.getEntry("branch");
+    entryTargetBranch.setString("");
+
+    entryTargetLevel = base.getEntry("level");
+    entryTargetLevel.setInteger(0);
+
+    entryProcessor = base.getEntry("processor");
+    entryProcessor.setBoolean(false);
+    processorTrigger = new Trigger(() -> entryProcessor.getBoolean(false));
+
+    entryRobotTick = base.getEntry("robotTick");
+    entryRobotTick.setInteger(0);
+    tick = 0;
+
+    entryBlueAlliance = base.getEntry("blueAlliance");
+    entryBlueAlliance.setBoolean(Constants.alliance() == Alliance.Blue);
+
+    // info setup
+    transmit("closestBranch");
+  }
+
+  /** Increments the robot tick value. Used by Dashboard to detect disconnects. */
+  public static void tick() {
+    tick += 1;
+    entryRobotTick.setInteger(tick);
+  }
+
+  /**
+   * Adds a key/entry pair to the info hashmap.
+   *
+   * @param key the key of the NetworkTables entry
+   */
+  public static void transmit(String key) {
+    NetworkTableEntry entry = base.getEntry(key);
+    info.put(key, entry);
+  }
+
+  /**
+   * Returns a Trigger, given a reef branch.
+   *
+   * @param branch the branch for the trigger (A-L)
+   * @return a Trigger for that branch
+   */
+  private static 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 static Trigger setTriggerLevel(int level) {
+    return new Trigger(() -> (level == entryTargetLevel.getInteger(0)));
+  }
+
+  /** An enum for each branch of the alliance's reef. */
+  public static enum Branches {
+    A("A"),
+    B("B"),
+    C("C"),
+    D("D"),
+    E("E"),
+    F("F"),
+    G("G"),
+    H("H"),
+    I("I"),
+    J("J"),
+    K("K"),
+    L("L");
+
+    public final String branch;
+    public final Trigger trigger;
+
+    private Branches(String branch) {
+      this.branch = branch;
+      this.trigger = setTriggerBranch(branch);
+    }
+  }
+
+  /** An enum for each level of a branch of the alliance's reef. */
+  public static enum Levels {
+    L1(1),
+    L2(2),
+    L3(3),
+    L4(4);
+
+    public final int level;
+    public final Trigger trigger;
+
+    private Levels(int level) {
+      this.level = level;
+      this.trigger = setTriggerLevel(level);
+    }
+  }
+}

src/main/java/org/sciborgs1155/robot/drive/Drive.java

@@ -49,6 +49,8 @@
 import monologue.Logged;
 import org.photonvision.EstimatedRobotPose;
 import org.sciborgs1155.lib.Assertion;
+import org.sciborgs1155.lib.Assertion.EqualityAssertion;
+import org.sciborgs1155.lib.Assertion.TruthAssertion;
 import org.sciborgs1155.lib.InputStream;
 import org.sciborgs1155.lib.Test;
 import org.sciborgs1155.robot.Constants;
@@ -413,6 +415,14 @@ public ChassisSpeeds fieldRelativeChassisSpeeds() {
     return ChassisSpeeds.fromRobotRelativeSpeeds(robotRelativeChassisSpeeds(), heading());
   }
 
+  public String closestBranch() {
+    if (pose().getX() < 3) {
+      return "A";
+    } else {
+      return "B";
+    }
+  }
+
   /**
    * Updates pose estimate based on vision-provided {@link EstimatedRobotPose}s.
    *