added field to dash

frc2053 · Nov 1, 2024 · c5306ae · c5306ae
1 parent ee8503b
commit c5306ae
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Showing 3 changed files with 25 additions and 0 deletions.
diff --git a/elastic-layout.json b/elastic-layout.json
@@ -168,6 +168,25 @@
               "topic": "/CameraPublisher/str_fr_cam-processed",
               "period": 0.06
             }
+          },
+          {
+            "title": "Field",
+            "x": 512.0,
+            "y": 0.0,
+            "width": 896.0,
+            "height": 704.0,
+            "type": "Field",
+            "properties": {
+              "topic": "/SmartDashboard/Field",
+              "period": 0.06,
+              "field_game": "Crescendo",
+              "robot_width": 0.868426,
+              "robot_length": 0.85725,
+              "show_other_objects": true,
+              "show_trajectories": true,
+              "robot_color": 4286120191,
+              "trajectory_color": 4294967295
+            }
           }
         ]
       }

diff --git a/src/main/cpp/str/SwerveDrive.cpp b/src/main/cpp/str/SwerveDrive.cpp
@@ -6,6 +6,7 @@
 
 #include <str/DriverstationUtils.h>
 #include <frc/DataLogManager.h>
+#include <frc/smartdashboard/SmartDashboard.h>
 
 #include "constants/Constants.h"
 #include "str/Math.h"
@@ -59,6 +60,7 @@ SwerveDrive::SwerveDrive() {
   }
 
   lastOdomUpdateTime = frc::Timer::GetFPGATimestamp();
+  frc::SmartDashboard::PutData(&field);
 }
 
 void SwerveDrive::ResetPose(const frc::Pose2d& resetPose) {
@@ -205,6 +207,7 @@ void SwerveDrive::UpdateNTEntries() {
   estimatorPub.Set(GetPose());
   //isSlippingPub.Set(IsSlipping());
   odomUpdateRatePub.Set(odomUpdateRate.value());
+  field.SetRobotPose(GetPose());
 }
 
 void SwerveDrive::SimulationPeriodic() {

diff --git a/src/main/include/str/SwerveDrive.h b/src/main/include/str/SwerveDrive.h
@@ -19,6 +19,7 @@
 
 #include "constants/SwerveConstants.h"
 #include "str/SwerveModule.h"
+#include <frc/smartdashboard/Field2d.h>
 
 namespace str {
 class SwerveDrive {
@@ -164,6 +165,8 @@ class SwerveDrive {
   units::second_t lastOdomUpdateTime;
   units::hertz_t odomUpdateRate;
 
+  frc::Field2d field{};
+
   std::shared_ptr<nt::NetworkTable> nt{
       nt::NetworkTableInstance::GetDefault().GetTable("SwerveDrive")};
   nt::BooleanPublisher isSlippingPub{