2992 lines
86 KiB
JSON
2992 lines
86 KiB
JSON
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
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|
|
{
|
|
"name": "Flywheel Debug",
|
|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
{
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
{
|
|
"title": "At Velocity",
|
|
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|
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|
|
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},
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{
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"title": "Opposed Follower",
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"x": 640.0,
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"y": 0.0,
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"width": 192.0,
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"height": 128.0,
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"properties": {
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"topic": "/Shooter/flywheelFollowerOpposed",
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{
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"title": "Target Velocity",
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{
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"title": "Tolerance",
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{
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"title": "Commanded Target",
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{
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"title": "Clamped Target",
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"title": "kP",
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{
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"title": "kI",
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"title": "kD",
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{
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"title": "kV",
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{
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"title": "kA",
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{
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"title": "kS",
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{
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"title": "Target Velocity Now",
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{
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"title": "Velocity Error",
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{
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"title": "Average Velocity",
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{
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{
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{
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|
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|
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|
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|
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|
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|
{
|
|
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|
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|
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|
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|
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|
{
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|
"title": "Drive Stationary",
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|
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|
"false_color": 4294198070,
|
|
"true_icon": "None",
|
|
"false_icon": "None"
|
|
}
|
|
},
|
|
{
|
|
"title": "Flywheel Voltage Offset",
|
|
"x": 0.0,
|
|
"y": 640.0,
|
|
"width": 128.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Superstructure/flywheelVoltageOffset",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Backboard Offset",
|
|
"x": 128.0,
|
|
"y": 640.0,
|
|
"width": 128.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Superstructure/backboardPositionOffset",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Heading Error",
|
|
"x": 256.0,
|
|
"y": 640.0,
|
|
"width": 128.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Superstructure/driveHeadingError",
|
|
"period": 0.033,
|
|
"data_type": "double",
|
|
"show_submit_button": true
|
|
}
|
|
},
|
|
{
|
|
"title": "Auto Chooser",
|
|
"x": 0.0,
|
|
"y": 768.0,
|
|
"width": 384.0,
|
|
"height": 128.0,
|
|
"type": "ComboBox Chooser",
|
|
"properties": {
|
|
"topic": "/SmartDashboard/Auto Chooser",
|
|
"period": 0.06,
|
|
"sort_options": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Match Time",
|
|
"x": 768.0,
|
|
"y": 0.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Large Text Display",
|
|
"properties": {
|
|
"topic": "/GameData2026/MatchTime",
|
|
"period": 0.06,
|
|
"data_type": "double"
|
|
}
|
|
},
|
|
{
|
|
"title": "Hub Changes In",
|
|
"x": 768.0,
|
|
"y": 128.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Large Text Display",
|
|
"properties": {
|
|
"topic": "/GameData2026/SecondsUntilHubChanges",
|
|
"period": 0.06,
|
|
"data_type": "double"
|
|
}
|
|
},
|
|
{
|
|
"title": "Hub Status",
|
|
"x": 768.0,
|
|
"y": 256.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Large Text Display",
|
|
"properties": {
|
|
"topic": "/GameData2026/HubStatus",
|
|
"period": 0.06,
|
|
"data_type": "string"
|
|
}
|
|
},
|
|
{
|
|
"title": "Flywheel Velocity",
|
|
"x": 384.0,
|
|
"y": 640.0,
|
|
"width": 256.0,
|
|
"height": 256.0,
|
|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Shooter/flywheelVelocity",
|
|
"period": 0.033,
|
|
"data_type": "double",
|
|
"time_displayed": 5.0,
|
|
"color": 4278238420,
|
|
"line_width": 2.0
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Conveyor Velocity",
|
|
"x": 640.0,
|
|
"y": 640.0,
|
|
"width": 256.0,
|
|
"height": 256.0,
|
|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Shooter/conveyorVelocity",
|
|
"period": 0.033,
|
|
"data_type": "double",
|
|
"time_displayed": 5.0,
|
|
"color": 4278238420,
|
|
"line_width": 2.0
|
|
}
|
|
},
|
|
{
|
|
"title": "Backboard Position",
|
|
"x": 1152.0,
|
|
"y": 640.0,
|
|
"width": 256.0,
|
|
"height": 256.0,
|
|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Shooter/backboardCurrentRate",
|
|
"period": 0.033,
|
|
"data_type": "double",
|
|
"time_displayed": 5.0,
|
|
"color": 4278238420,
|
|
"line_width": 2.0
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Conveyor Velocity",
|
|
"x": 896.0,
|
|
"y": 640.0,
|
|
"width": 256.0,
|
|
"height": 256.0,
|
|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Conveyor/velocity",
|
|
"period": 0.033,
|
|
"data_type": "double",
|
|
"time_displayed": 5.0,
|
|
"color": 4278238420,
|
|
"line_width": 2.0
|
|
}
|
|
},
|
|
{
|
|
"title": "Backboard Target",
|
|
"x": 1152.0,
|
|
"y": 512.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Shooter/backboardTargetRate",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Camera",
|
|
"x": 1024.0,
|
|
"y": 0.0,
|
|
"width": 384.0,
|
|
"height": 256.0,
|
|
"type": "Camera Stream",
|
|
"properties": {
|
|
"topic": "/CameraPublisher/limelight-left",
|
|
"period": 0.06,
|
|
"rotation_turns": 0
|
|
}
|
|
},
|
|
{
|
|
"title": "Intaker Camera",
|
|
"x": 1024.0,
|
|
"y": 256.0,
|
|
"width": 384.0,
|
|
"height": 256.0,
|
|
"type": "Camera Stream",
|
|
"properties": {
|
|
"topic": "/CameraPublisher/limelight-front",
|
|
"period": 0.06,
|
|
"rotation_turns": 0
|
|
}
|
|
},
|
|
{
|
|
"title": "MT2 Distance Difference",
|
|
"x": 1408.0,
|
|
"y": 128.0,
|
|
"width": 256.0,
|
|
"height": 256.0,
|
|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Positioning/MetaTag2DistanceDifference",
|
|
"period": 0.033,
|
|
"data_type": "double",
|
|
"time_displayed": 5.0,
|
|
"color": 4278238420,
|
|
"line_width": 2.0
|
|
}
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"name": "Conveyor Debug",
|
|
"grid_layout": {
|
|
"layouts": [],
|
|
"containers": [
|
|
{
|
|
"title": "Shooter Velocity Test",
|
|
"x": 0.0,
|
|
"y": 0.0,
|
|
"width": 128.0,
|
|
"height": 128.0,
|
|
"type": "Toggle Switch",
|
|
"properties": {
|
|
"topic": "/Tuning/shooterConveyor/shooterConveyorVelocityEnable",
|
|
"period": 0.06,
|
|
"data_type": "boolean"
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Test Active",
|
|
"x": 128.0,
|
|
"y": 0.0,
|
|
"width": 192.0,
|
|
"height": 128.0,
|
|
"type": "Boolean Box",
|
|
"properties": {
|
|
"topic": "/Tuning/shooterConveyor/shooterConveyorVelocityEnableActive",
|
|
"period": 0.06,
|
|
"data_type": "boolean",
|
|
"true_color": 4283215696,
|
|
"false_color": 4294198070,
|
|
"true_icon": "None",
|
|
"false_icon": "None"
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Holdoff",
|
|
"x": 320.0,
|
|
"y": 0.0,
|
|
"width": 192.0,
|
|
"height": 128.0,
|
|
"type": "Boolean Box",
|
|
"properties": {
|
|
"topic": "/Superstructure/shooterConveyorTuningControlActive",
|
|
"period": 0.06,
|
|
"data_type": "boolean",
|
|
"true_color": 4283215696,
|
|
"false_color": 4294198070,
|
|
"true_icon": "None",
|
|
"false_icon": "None"
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Voltage Test",
|
|
"x": 768.0,
|
|
"y": 0.0,
|
|
"width": 128.0,
|
|
"height": 128.0,
|
|
"type": "Toggle Switch",
|
|
"properties": {
|
|
"topic": "/Tuning/mainConveyor/mainConveyorVoltageEnable",
|
|
"period": 0.06,
|
|
"data_type": "boolean"
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Test Active",
|
|
"x": 896.0,
|
|
"y": 0.0,
|
|
"width": 192.0,
|
|
"height": 128.0,
|
|
"type": "Boolean Box",
|
|
"properties": {
|
|
"topic": "/Tuning/mainConveyor/mainConveyorVoltageEnableActive",
|
|
"period": 0.06,
|
|
"data_type": "boolean",
|
|
"true_color": 4283215696,
|
|
"false_color": 4294198070,
|
|
"true_icon": "None",
|
|
"false_icon": "None"
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Holdoff",
|
|
"x": 1088.0,
|
|
"y": 0.0,
|
|
"width": 192.0,
|
|
"height": 128.0,
|
|
"type": "Boolean Box",
|
|
"properties": {
|
|
"topic": "/Superstructure/mainConveyorTuningControlActive",
|
|
"period": 0.06,
|
|
"data_type": "boolean",
|
|
"true_color": 4283215696,
|
|
"false_color": 4294198070,
|
|
"true_icon": "None",
|
|
"false_icon": "None"
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Target Velocity",
|
|
"x": 0.0,
|
|
"y": 128.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Tuning/shooterConveyor/shooterConveyorTargetVelocity",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": true
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Commanded",
|
|
"x": 256.0,
|
|
"y": 128.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Tuning/shooterConveyor/shooterConveyorCommandedTargetVelocity",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Clamped",
|
|
"x": 512.0,
|
|
"y": 128.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Tuning/shooterConveyor/shooterConveyorClampedTargetVelocity",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Target Volts",
|
|
"x": 768.0,
|
|
"y": 128.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Tuning/mainConveyor/mainConveyorTargetVolts",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": true
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Commanded",
|
|
"x": 1024.0,
|
|
"y": 128.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Tuning/mainConveyor/mainConveyorCommandedTargetVolts",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Clamped",
|
|
"x": 1280.0,
|
|
"y": 128.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Tuning/mainConveyor/mainConveyorClampedTargetVolts",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Target Now",
|
|
"x": 0.0,
|
|
"y": 256.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Shooter/conveyorTargetVelocity",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Velocity",
|
|
"x": 256.0,
|
|
"y": 256.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Shooter/conveyorVelocity",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Error",
|
|
"x": 512.0,
|
|
"y": 256.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Shooter/conveyorVelocityError",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Target Now",
|
|
"x": 768.0,
|
|
"y": 256.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Conveyor/targetOutputVolts",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Velocity",
|
|
"x": 1024.0,
|
|
"y": 256.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Conveyor/velocity",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Output Volts",
|
|
"x": 1280.0,
|
|
"y": 256.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Conveyor/motorOutputVolts",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Output Volts",
|
|
"x": 0.0,
|
|
"y": 384.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Shooter/shooterConveyorOutputVolts",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Left Current",
|
|
"x": 256.0,
|
|
"y": 384.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Shooter/conveyorLeftStatorCurrent",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Right Current",
|
|
"x": 512.0,
|
|
"y": 384.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Shooter/conveyorRightStatorCurrent",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Main Current",
|
|
"x": 768.0,
|
|
"y": 384.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Conveyor/statorCurrent",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter Max Velocity",
|
|
"x": 1024.0,
|
|
"y": 384.0,
|
|
"width": 256.0,
|
|
"height": 128.0,
|
|
"type": "Text Display",
|
|
"properties": {
|
|
"topic": "/Tuning/shooterConveyor/shooterConveyorMaxVelocity",
|
|
"period": 0.06,
|
|
"data_type": "double",
|
|
"show_submit_button": false
|
|
}
|
|
},
|
|
{
|
|
"title": "Shooter NT Active",
|
|
"x": 1280.0,
|
|
"y": 384.0,
|
|
"width": 192.0,
|
|
"height": 128.0,
|
|
"type": "Boolean Box",
|
|
"properties": {
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"topic": "/Shooter/conveyorVelocityTuningActive",
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"period": 0.06,
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"data_type": "boolean",
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"true_color": 4283215696,
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"true_icon": "None",
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"false_icon": "None"
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}
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},
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{
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"title": "Shooter Velocity",
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"x": 0.0,
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"y": 512.0,
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"width": 384.0,
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"height": 256.0,
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"type": "Graph",
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"properties": {
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"topic": "/Shooter/conveyorVelocity",
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}
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},
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{
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"title": "Shooter Target",
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"x": 384.0,
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"y": 512.0,
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"width": 384.0,
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"height": 256.0,
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"type": "Graph",
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"properties": {
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"topic": "/Shooter/conveyorTargetVelocity",
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}
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},
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{
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"title": "Shooter Error",
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"x": 768.0,
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"y": 512.0,
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|
"width": 384.0,
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"height": 256.0,
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"type": "Graph",
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|
"properties": {
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"topic": "/Shooter/conveyorVelocityError",
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"period": 0.033,
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"data_type": "double",
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}
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},
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{
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|
"title": "Shooter Output Volts",
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"x": 1152.0,
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"y": 512.0,
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"width": 384.0,
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|
"height": 256.0,
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"type": "Graph",
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"properties": {
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"topic": "/Shooter/shooterConveyorOutputVolts",
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}
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},
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|
{
|
|
"title": "Main Velocity",
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|
"x": 0.0,
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|
"y": 768.0,
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|
"width": 384.0,
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|
"height": 256.0,
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|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Conveyor/velocity",
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|
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|
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|
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|
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}
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|
},
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|
{
|
|
"title": "Main Target Volts",
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|
"x": 384.0,
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|
"y": 768.0,
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|
"width": 384.0,
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|
"height": 256.0,
|
|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Conveyor/targetOutputVolts",
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|
"period": 0.033,
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|
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|
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|
"color": 4283443184,
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|
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|
}
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|
},
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|
{
|
|
"title": "Main Output Volts",
|
|
"x": 768.0,
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|
"y": 768.0,
|
|
"width": 384.0,
|
|
"height": 256.0,
|
|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Conveyor/motorOutputVolts",
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|
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|
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|
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|
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|
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|
}
|
|
},
|
|
{
|
|
"title": "Main Current",
|
|
"x": 1152.0,
|
|
"y": 768.0,
|
|
"width": 384.0,
|
|
"height": 256.0,
|
|
"type": "Graph",
|
|
"properties": {
|
|
"topic": "/Conveyor/statorCurrent",
|
|
"period": 0.033,
|
|
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|
|
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|
|
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|
|
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|
|
}
|
|
}
|
|
]
|
|
},
|
|
"title": "Conveyor Debug"
|
|
}
|
|
]
|
|
}
|