Changed the telemetry location for modules to swerve/modules/.../ f…

…rom `Module[...]` Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jun 12, 2024 · d0f7ae7 · d0f7ae7
1 parent 1d0bb34
commit d0f7ae7
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Showing 2 changed files with 14 additions and 14 deletions.
diff --git a/src/main/java/swervelib/SwerveDriveTest.java b/src/main/java/swervelib/SwerveDriveTest.java
@@ -286,9 +286,9 @@ public static void logDriveMotorActivity(SwerveModule module, SysIdRoutineLog lo
     double power    = powerSupplied.get();
     double distance = module.getPosition().distanceMeters;
     double velocity = module.getDriveMotor().getVelocity();
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Drive Power", power);
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Drive Position", distance);
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Drive Velocity", velocity);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Drive Power", power);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Drive Position", distance);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Drive Velocity", velocity);
     log.motor("drive-" + module.configuration.name)
        .voltage(m_appliedVoltage.mut_replace(power, Volts))
        .linearPosition(m_distance.mut_replace(distance, Meters))
@@ -358,9 +358,9 @@ public static void logAngularMotorActivity(SwerveModule module, SysIdRoutineLog
     double power    = powerSupplied.get();
     double angle    = module.getAbsolutePosition();
     double velocity = module.getAbsoluteEncoder().getVelocity();
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Angle Power", power);
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Angle Position", angle);
-    SmartDashboard.putNumber("Module[" + module.configuration.name + "] SysId Absolute Encoder Velocity", velocity);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Angle Power", power);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Angle Position", angle);
+    SmartDashboard.putNumber("swerve/modules/" + module.configuration.name + "/SysId Absolute Encoder Velocity", velocity);
     log.motor("angle-" + module.configuration.name)
        .voltage(m_appliedVoltage.mut_replace(power, Volts))
        .angularPosition(m_anglePosition.mut_replace(angle, Degrees))

diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
@@ -206,12 +206,12 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
                                      moduleNumber,
                                      Alert.AlertType.WARNING);
 
-    rawAbsoluteAngleName = "Module[" + configuration.name + "] Raw Absolute Encoder";
-    adjAbsoluteAngleName = "Module[" + configuration.name + "] Adjusted Absolute Encoder";
-    absoluteEncoderIssueName = "Module[" + configuration.name + "] Absolute Encoder Read Issue";
-    rawAngleName = "Module[" + configuration.name + "] Raw Angle Encoder";
-    rawDriveName = "Module[" + configuration.name + "] Raw Drive Encoder";
-    rawDriveVelName = "Module[" + configuration.name + "] Raw Drive Velocity";
+    rawAbsoluteAngleName = "swerve/modules/" + configuration.name + "/Raw Absolute Encoder";
+    adjAbsoluteAngleName = "swerve/modules/" + configuration.name + "/Adjusted Absolute Encoder";
+    absoluteEncoderIssueName = "swerve/modules/" + configuration.name + "/Absolute Encoder Read Issue";
+    rawAngleName = "swerve/modules/" + configuration.name + "/Raw Angle Encoder";
+    rawDriveName = "swerve/modules/" + configuration.name + "/Raw Drive Encoder";
+    rawDriveVelName = "swerve/modules/" + configuration.name + "/Raw Drive Velocity";
   }
 
   /**
@@ -379,8 +379,8 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop,
 
     if (SwerveDriveTelemetry.verbosity == TelemetryVerbosity.HIGH)
     {
-      SmartDashboard.putNumber("Module[" + configuration.name + "] Speed Setpoint", desiredState.speedMetersPerSecond);
-      SmartDashboard.putNumber("Module[" + configuration.name + "] Angle Setpoint", desiredState.angle.getDegrees());
+      SmartDashboard.putNumber("swerve/modules/" + configuration.name + "/Speed Setpoint", desiredState.speedMetersPerSecond);
+      SmartDashboard.putNumber("swerve/modules/" + configuration.name + "/Angle Setpoint", desiredState.angle.getDegrees());
     }
   }