/**
* Sends data back to LabVIEW dashboard on computer. For camera targeting data, sensor feedback,
* etc.
*
* @author Ziv
*/
public class Dashboards {
private DriverStation ds = DriverStation.getInstance();
private Dashboard lowDash = ds.getDashboardPackerLow();
private static Dashboards instance = null;
private Dashboards() {}
public static Dashboards getInstance() {
if (instance == null) {
instance = new Dashboards();
}
return instance;
}
public void sendContinuousData() {
// LabVIEW stuff.
lowDash.addCluster(); // top
lowDash.addCluster(); // target1 tracking
lowDash.addInt((int) CommandBase.cam.tracker.getTarget1().rawBboxCornerX);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget1().rawBboxCornerY);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget1().rawBboxWidth);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget1().rawBboxHeight);
lowDash.finalizeCluster();
lowDash.addCluster(); // target2 tracking
lowDash.addInt((int) CommandBase.cam.tracker.getTarget2().rawBboxCornerX);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget2().rawBboxCornerY);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget2().rawBboxWidth);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget2().rawBboxHeight);
lowDash.finalizeCluster();
lowDash.addCluster(); // target3 tracking
lowDash.addInt((int) CommandBase.cam.tracker.getTarget3().rawBboxCornerX);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget3().rawBboxCornerY);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget3().rawBboxWidth);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget3().rawBboxHeight);
lowDash.finalizeCluster();
lowDash.addCluster(); // target4 tracking
lowDash.addInt((int) CommandBase.cam.tracker.getTarget4().rawBboxCornerX);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget4().rawBboxCornerY);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget4().rawBboxWidth);
lowDash.addInt((int) CommandBase.cam.tracker.getTarget4().rawBboxHeight);
lowDash.finalizeCluster();
lowDash.addDouble(CommandBase.cam.tracker.getBestTarget().centerX);
// Shooter.
lowDash.addDouble(CommandBase.shooter.getSetpoint());
lowDash.addDouble(CommandBase.shooter.getRate());
// Elevator.
lowDash.addDouble(CommandBase.shooter.getPower());
lowDash.finalizeCluster();
lowDash.commit();
}
public void sendPeriodicData() {
// SmartDashboard output stuff.
SmartDashboard.putDouble("Force Sensor Value", CommandBase.elev.getPressure());
SmartDashboard.putDouble("Yaw position", CommandBase.dt.yawGyro.getAngle());
SmartDashboard.putDouble("Target1 X", CommandBase.cam.tracker.pidGet());
SmartDashboard.putDouble("Cam servo", CommandBase.cam.getPos());
SmartDashboard.putDouble("Shooter rate", CommandBase.shooter.getRate());
SmartDashboard.putDouble("DT left", CommandBase.dt.getLeftPos());
SmartDashboard.putDouble("DT right", CommandBase.dt.getRightPos());
SmartDashboard.putDouble("Cam pos", CommandBase.cam.getPos());
SmartDashboard.putDouble("Shooter power", CommandBase.shooter.getPower());
SmartDashboard.putDouble("Throttle", CommandBase.oi.getDriveThrottle());
SmartDashboard.putDouble("Wheel", CommandBase.oi.getDriveWheel());
SmartDashboard.putDouble("Cam delta", CommandBase.oi.getCamDelta());
}
}
