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"width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/GroundIntake/Speed", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Pivot Motor Temperature", + "x": 0.0, + "y": 384.0, + "width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/Ground Arm/Pivot Motor Temperature", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Pivot Motor rotor Pos", + "x": 128.0, + "y": 384.0, + "width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/Ground Arm/Pivot Motor rotor Pos", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Pivot Position", + "x": 256.0, + "y": 384.0, + "width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/Ground Arm/Pivot Position", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Pivot Speed", + "x": 384.0, + "y": 384.0, + "width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/Ground Arm/Pivot Speed", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Pivot Target Pos", + "x": 512.0, + "y": 384.0, + "width": 256.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/Ground Arm/Pivot Target Pos", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Last Set Power", + "x": 0.0, + "y": 128.0, + "width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/GroundIntake/Last Set Power", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Motor Temperature", + "x": 128.0, + "y": 0.0, + "width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/GroundIntake/Motor Temperature", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Motor Voltage", + "x": 128.0, + "y": 128.0, + "width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/GroundIntake/Motor Voltage", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "Distance(m)", + "x": 640.0, + "y": 0.0, + "width": 128.0, + "height": 128.0, + "type": "Text Display", + "properties": { + "topic": "/Shuffleboard/IntakeSensor/Distance(m)", + "period": 0.06, + "data_type": "double", + "show_submit_button": false + } + }, + { + "title": "In Intake", + "x": 768.0, + "y": 0.0, + "width": 128.0, + "height": 128.0, + "type": "Boolean Box", + "properties": { + "topic": "/Shuffleboard/IntakeSensor/In Intake", + "period": 0.06, + "data_type": "boolean", + "true_color": 4283215696, + "false_color": 4294198070, + "true_icon": "None", + "false_icon": "None" + } + } + ] + } + }, + { + "name": "Controls", + "grid_layout": { + "layouts": [], + "containers": [ + { + "title": "Elevator Coast Mode", + "x": 384.0, + "y": 0.0, + "width": 128.0, + "height": 128.0, + "type": "Toggle Button", + "properties": { + "topic": "/Shuffleboard/Controls/Elevator Coast Mode", + "period": 0.06, + "data_type": "boolean" + } + }, + { + "title": "Swerve Coast Mode", + "x": 512.0, + "y": 0.0, + "width": 128.0, + "height": 128.0, + "type": "Toggle Button", + "properties": { + "topic": "/Shuffleboard/Controls/Swerve Coast Mode", + "period": 0.06, + "data_type": "boolean" + } + }, + { + "title": "Climb Coast Mode", + "x": 640.0, + "y": 0.0, + "width": 128.0, + "height": 128.0, + "type": "Toggle Button", + "properties": { + "topic": "/Shuffleboard/Controls/Climb Coast Mode", + "period": 0.06, + "data_type": "boolean" + } + } + ] + } + } + ] +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index a401ee3b..5c959a00 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -6,8 +6,10 @@ import au.grapplerobotics.CanBridge; import com.pathplanner.lib.commands.FollowPathCommand; +import edu.wpi.first.net.WebServer; import edu.wpi.first.wpilibj.DataLogManager; import edu.wpi.first.wpilibj.DriverStation; +import edu.wpi.first.wpilibj.Filesystem; import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.PowerDistribution.ModuleType; import edu.wpi.first.wpilibj.RobotBase; @@ -37,7 +39,6 @@ public static Robot getInstance() { private final RobotType robotType; public final Controls controls; public final Subsystems subsystems; - public final Sensors sensors; public final SuperStructure superStructure; private final PowerDistribution PDH; @@ -107,6 +108,7 @@ protected Robot() { FollowPathCommand.warmupCommand().schedule(); } MatchTab.create(sensors, subsystems); + WebServer.start(5800, Filesystem.getDeployDirectory().getPath()); } @Override