Falcon Dashboard
Dashboard used by FRC 5190 to generate trajectories and visualize live robot motion to debug trajectory tracking and computer vision code.
Pre-Requisites
JDK 11 or higher is required to build Falcon Dashboard. Older versions will cause compilation errors.
Running
Falcon Dashboard uses the Gradle build system. Run ./gradlew run
in the root project directory.
Sending Data to Falcon Dashboard
You can send data over NetworkTables to visualize the robot pose and trajectory data on the live visualizer. All entries are sent over the Live_Dashboard
table.
Robot Pose Data
robotX
: The x position of the robot on the field in feet.robotY
: The y position of the robot on the field in feet.robotHeading
The heading of the robot in radians.
Trajectory Data
pathX
: The x position of the current reference point in feet.pathY
: The y position of the current reference point in feet.isFollowingPath
: Whether the robot is currently tracking a trajectory or not.
Vision Targets
visionTargets
: A list ofPose2d
objects representing the vision targets in the field's coordinate system.