Fixed NetworkAlerts

swervelib/SwerveDrive.java

@@ -11,7 +11,6 @@
 import edu.wpi.first.math.geometry.Transform2d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
-import edu.wpi.first.math.geometry.Twist2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
@@ -67,6 +66,10 @@ public class SwerveDrive
    * Odometry lock to ensure thread safety.
    */
   private final Lock                     odometryLock                                    = new ReentrantLock();
+  /**
+   * Deadband for speeds in heading correction.
+   */
+  private final double                   HEADING_CORRECTION_DEADBAND                     = 0.01;
   /**
    * Field object.
    */
@@ -100,14 +103,14 @@ public class SwerveDrive
    * correction.
    */
   public        boolean                  chassisVelocityCorrection                       = true;
-  /**
-   * Whether heading correction PID is currently active.
-   */
-  private       boolean                  correctionEnabled                               = false;
   /**
    * Whether to correct heading when driving translationally. Set to true to enable.
    */
   public        boolean                  headingCorrection                               = false;
+  /**
+   * Whether heading correction PID is currently active.
+   */
+  private       boolean                  correctionEnabled                               = false;
   /**
    * Swerve IMU device for sensing the heading of the robot.
    */
@@ -120,10 +123,6 @@ public class SwerveDrive
    * Counter to synchronize the modules relative encoder with absolute encoder when not moving.
    */
   private       int                      moduleSynchronizationCounter                    = 0;
-  /**
-   * Deadband for speeds in heading correction.
-   */
-  private final double                   HEADING_CORRECTION_DEADBAND                     = 0.01;
   /**
    * The last heading set in radians.
    */
@@ -413,10 +412,10 @@ public void drive(ChassisSpeeds velocity, boolean isOpenLoop, Translation2d cent
     if (headingCorrection)
     {
       if (Math.abs(velocity.omegaRadiansPerSecond) < HEADING_CORRECTION_DEADBAND
-          && (Math.abs(velocity.vxMetersPerSecond) > HEADING_CORRECTION_DEADBAND 
-          || Math.abs(velocity.vyMetersPerSecond) > HEADING_CORRECTION_DEADBAND)) 
+          && (Math.abs(velocity.vxMetersPerSecond) > HEADING_CORRECTION_DEADBAND
+              || Math.abs(velocity.vyMetersPerSecond) > HEADING_CORRECTION_DEADBAND))
       {
-        if (!correctionEnabled) 
+        if (!correctionEnabled)
         {
           lastHeadingRadians = getYaw().getRadians();
           correctionEnabled = true;

swervelib/SwerveModule.java

@@ -5,13 +5,13 @@
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.math.kinematics.SwerveModuleState;
 import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import swervelib.encoders.SwerveAbsoluteEncoder;
 import swervelib.math.SwerveMath;
 import swervelib.motors.SwerveMotor;
 import swervelib.parser.SwerveModuleConfiguration;
 import swervelib.simulation.SwerveModuleSimulation;
+import swervelib.telemetry.Alert;
 import swervelib.telemetry.SwerveDriveTelemetry;
 import swervelib.telemetry.SwerveDriveTelemetry.TelemetryVerbosity;
 
@@ -33,6 +33,14 @@ public class SwerveModule
    * Absolute encoder for swerve drive.
    */
   private final SwerveAbsoluteEncoder  absoluteEncoder;
+  /**
+   * An {@link Alert} for if pushing the Absolute Encoder offset to the encoder fails.
+   */
+  private final Alert                  encoderOffsetWarning;
+  /**
+   * An {@link Alert} for if there is no Absolute Encoder on the module.
+   */
+  private final Alert                  noEncoderWarning;
   /**
    * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    */
@@ -129,6 +137,15 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
     }
 
     lastState = getState();
+
+    noEncoderWarning = new Alert("Motors",
+                                 "There is no Absolute Encoder on module #" +
+                                 moduleNumber,
+                                 Alert.AlertType.WARNING);
+    encoderOffsetWarning = new Alert("Motors",
+                                     "Pushing the Absolute Encoder offset to the encoder failed on module #" +
+                                     moduleNumber,
+                                     Alert.AlertType.WARNING);
   }
 
   /**
@@ -399,12 +416,11 @@ public void pushOffsetsToControllers()
         angleOffset = 0;
       } else
       {
-        DriverStation.reportWarning(
-            "Pushing the Absolute Encoder offset to the encoder failed on module #" + moduleNumber, false);
+        encoderOffsetWarning.set(true);
       }
     } else
     {
-      DriverStation.reportWarning("There is no Absolute Encoder on module #" + moduleNumber, false);
+      noEncoderWarning.set(true);
     }
   }
 

swervelib/encoders/AnalogAbsoluteEncoderSwerve.java

@@ -1,8 +1,8 @@
 package swervelib.encoders;
 
 import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
+import swervelib.telemetry.Alert;
 
 /**
  * Swerve Absolute Encoder for Thrifty Encoders and other analog encoders.
@@ -19,6 +19,14 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
    * Inversion state of the encoder.
    */
   private boolean     inverted = false;
+  /**
+   * An {@link Alert} for if the absolute encoder offset cannot be set.
+   */
+  private Alert       cannotSetOffset;
+  /**
+   * An {@link Alert} detailing how the analog absolute encoder may not report accurate velocities.
+   */
+  private Alert       inaccurateVelocities;
 
   /**
    * Construct the Thrifty Encoder as a Swerve Absolute Encoder.
@@ -28,6 +36,14 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
   public AnalogAbsoluteEncoderSwerve(AnalogInput encoder)
   {
     this.encoder = encoder;
+    cannotSetOffset = new Alert(
+        "Encoders",
+        "Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(),
+        Alert.AlertType.WARNING);
+    inaccurateVelocities = new Alert(
+        "Encoders",
+        "The Analog Absolute encoder may not report accurate velocities!",
+        Alert.AlertType.WARNING_TRACE);
   }
 
   /**
@@ -101,8 +117,7 @@ public Object getAbsoluteEncoder()
   public boolean setAbsoluteEncoderOffset(double offset)
   {
     //Do Nothing
-    DriverStation.reportWarning(
-        "Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(), false);
+    cannotSetOffset.set(true);
     return false;
   }
 
@@ -114,7 +129,7 @@ public boolean setAbsoluteEncoderOffset(double offset)
   @Override
   public double getVelocity()
   {
-    DriverStation.reportWarning("The Analog Absolute encoder may not report accurate velocities!", true);
+    inaccurateVelocities.set(true);
     return encoder.getValue();
   }
 }

swervelib/encoders/CANCoderSwerve.java

@@ -9,7 +9,7 @@
 import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
 import com.ctre.phoenix6.signals.MagnetHealthValue;
 import com.ctre.phoenix6.signals.SensorDirectionValue;
-import edu.wpi.first.wpilibj.DriverStation;
+import swervelib.telemetry.Alert;
 
 /**
  * Swerve Absolute Encoder for CTRE CANCoders.
@@ -20,7 +20,23 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
   /**
    * CANCoder with WPILib sendable and support.
    */
-  public CANcoder encoder;
+  public  CANcoder encoder;
+  /**
+   * An {@link Alert} for if the CANCoder magnet field is less than ideal.
+   */
+  private Alert    magnetFieldLessThanIdeal;
+  /**
+   * An {@link Alert} for if the CANCoder reading is faulty.
+   */
+  private Alert    readingFaulty;
+  /**
+   * An {@link Alert} for if the CANCoder reading is faulty and the reading is ignored.
+   */
+  private Alert    readingIgnored;
+  /**
+   * An {@link Alert} for if the absolute encoder offset cannot be set.
+   */
+  private Alert    cannotSetOffset;
 
   /**
    * Initialize the CANCoder on the standard CANBus.
@@ -41,6 +57,24 @@ public CANCoderSwerve(int id)
   public CANCoderSwerve(int id, String canbus)
   {
     encoder = new CANcoder(id, canbus);
+    magnetFieldLessThanIdeal = new Alert(
+        "Encoders",
+        "CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.",
+        Alert.AlertType.WARNING);
+    readingFaulty = new Alert(
+        "Encoders",
+        "CANCoder " + encoder.getDeviceID() + " reading was faulty.",
+        Alert.AlertType.WARNING);
+    readingIgnored = new Alert(
+        "Encoders",
+        "CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.",
+        Alert.AlertType.WARNING);
+    cannotSetOffset = new Alert(
+        "Encoders",
+        "Failure to set CANCoder "
+        + encoder.getDeviceID()
+        + " Absolute Encoder Offset",
+        Alert.AlertType.WARNING);
   }
 
   /**
@@ -89,17 +123,17 @@ public double getAbsolutePosition()
     readingError = false;
     MagnetHealthValue strength = encoder.getMagnetHealth().getValue();
 
-    if (strength != MagnetHealthValue.Magnet_Green)
-    {
-      DriverStation.reportWarning(
-          "CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.\n", false);
-    }
+    magnetFieldLessThanIdeal.set(strength != MagnetHealthValue.Magnet_Green);
     if (strength == MagnetHealthValue.Magnet_Invalid || strength == MagnetHealthValue.Magnet_Red)
     {
       readingError = true;
-      DriverStation.reportWarning("CANCoder " + encoder.getDeviceID() + " reading was faulty.\n", false);
+      readingFaulty.set(true);
       return 0;
+    } else
+    {
+      readingFaulty.set(false);
     }
+
     StatusSignal<Double> angle = encoder.getAbsolutePosition().refresh();
 
     // Taken from democat's library.
@@ -115,7 +149,10 @@ public double getAbsolutePosition()
     if (angle.getStatus() != StatusCode.OK)
     {
       readingError = true;
-      DriverStation.reportWarning("CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.\n", false);
+      readingIgnored.set(true);
+    } else
+    {
+      readingIgnored.set(false);
     }
 
     return angle.getValue() * 360;
@@ -149,12 +186,17 @@ public boolean setAbsoluteEncoderOffset(double offset)
       return false;
     }
     error = cfg.apply(magCfg.withMagnetOffset(offset / 360));
+    cannotSetOffset.setText(
+        "Failure to set CANCoder "
+        + encoder.getDeviceID()
+        + " Absolute Encoder Offset Error: "
+        + error);
     if (error == StatusCode.OK)
     {
+      cannotSetOffset.set(false);
       return true;
     }
-    DriverStation.reportWarning(
-        "Failure to set CANCoder " + encoder.getDeviceID() + " Absolute Encoder Offset Error: " + error, false);
+    cannotSetOffset.set(true);
     return false;
   }
 

swervelib/encoders/CanAndCoderSwerve.java

@@ -25,7 +25,7 @@ public CanAndCoderSwerve(int canid)
 
   /**
    * Reset the encoder to factory defaults.
-   * 
+   * <p>
    * This will not clear the stored zero offset.
    */
   @Override

swervelib/encoders/PWMDutyCycleEncoderSwerve.java

@@ -1,7 +1,7 @@
 package swervelib.encoders;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import swervelib.telemetry.Alert;
 
 /**
  * DutyCycle encoders such as "US Digital MA3 with PWM Output, the CTRE Mag Encoder, the Rev Hex Encoder, and the AM Mag
@@ -22,6 +22,10 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
    * Inversion state.
    */
   private       boolean          isInverted;
+  /**
+   * An {@link Alert}  for if the encoder cannot report accurate velocities.
+   */
+  private       Alert            inaccurateVelocities;
 
   /**
    * Constructor for the PWM duty cycle encoder.
@@ -31,6 +35,11 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
   public PWMDutyCycleEncoderSwerve(int pin)
   {
     encoder = new DutyCycleEncoder(pin);
+    inaccurateVelocities = new Alert(
+        "Encoders",
+        "The PWM Duty Cycle encoder may not report accurate velocities!",
+        Alert.AlertType.WARNING_TRACE);
+
   }
 
   /**
@@ -74,7 +83,7 @@ public Object getAbsoluteEncoder()
   @Override
   public double getVelocity()
   {
-    DriverStation.reportWarning("The PWM Duty Cycle encoder may not report accurate velocities!", true);
+    inaccurateVelocities.set(true);
     return encoder.get();
   }