Package com.pathplanner.lib.util

Class PPLibTelemetry

java.lang.Object

com.pathplanner.lib.util.PPLibTelemetry

public class PPLibTelemetry
extends Object

Utility class for sending data to the PathPlanner app via NT4

Constructor Summary

Constructors

Constructor	Description
PPLibTelemetry()

Method Summary

Modifier and Type	Method	Description
static void	enableCompetitionMode()	Enable competition mode.
static void	registerHotReloadAuto(String autoName, PathPlannerAuto auto)	Register an auto for hot reload.
static void	registerHotReloadPath(String pathName, PathPlannerPath path)	Register a path for hot reload.
static void	setCurrentPath(PathPlannerPath path)	Set the current path being followed
static void	setCurrentPose(Pose2d pose)	Set the current robot pose
static void	setTargetPose(Pose2d targetPose)	Set the target robot pose
static void	setVelocities(double actualVel, double commandedVel, double actualAngVel, double commandedAngVel)	Set the path following actual/target velocities

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

PPLibTelemetry

public PPLibTelemetry()

Method Details

enableCompetitionMode

public static void enableCompetitionMode()

Enable competition mode. This will disable hot reload.

setVelocities

public static void setVelocities(double actualVel,
 double commandedVel,
 double actualAngVel,
 double commandedAngVel)

Set the path following actual/target velocities

Parameters:

actualVel - Actual robot velocity in m/s

commandedVel - Target robot velocity in m/s

actualAngVel - Actual angular velocity in rad/s

commandedAngVel - Target angular velocity in rad/s

setCurrentPose

public static void setCurrentPose(Pose2d pose)

Set the current robot pose

Parameters:

pose - Current robot pose

setCurrentPath

public static void setCurrentPath(PathPlannerPath path)

Set the current path being followed

Parameters:

path - The current path

setTargetPose

public static void setTargetPose(Pose2d targetPose)

Set the target robot pose

Parameters:

targetPose - Target robot pose

registerHotReloadPath

public static void registerHotReloadPath(String pathName,
 PathPlannerPath path)

Register a path for hot reload. This is used internally.

Parameters:

pathName - Name of the path

path - Reference to the path

registerHotReloadAuto

public static void registerHotReloadAuto(String autoName,
 PathPlannerAuto auto)

Register an auto for hot reload. This is used internally.

Parameters:

autoName - Name of the auto

auto - Reference to the auto