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Falcon Dashboard

Dashboard used by FRC 5190 (and edited slightly by 4414) 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 of Pose2d objects representing the vision targets in the field's coordinate system.