❌Advantage Scope
Advantage Scope is a data visualization tool, courtesy of team 6328 Mechanical Advantage, which can visualize the Swerve Drive to give you feedback for debugging.
Opening
Since the 2024 Season, Advantage Scope has been included with the WPILib installation. There is no external download required, however with every WPILib update you should re-download the WPILib installer to get the latest version of WPILib tools.
Configuring Advantage Scope
Connect laptop to robot
Open
AdvantageScope (WPILib)
or in VS Code open the command palette and type inWPILib: Start Tool
and clickAdvantageScope
Click
Help
thenShow Preferences
Input the roboRIO IP address based off of your team number.
10.TE.AM.2
Connect to the robot (or the simulator)
Add a new tab by clicking the
+
on the right side of the window
Add a new 🦀 Swerve tab
Connect the module states and rotation from Smart Dashboard to the Fields.
Under the
SmartDashboard/swerve
menu drag thedesiredStates
into theStates (Red)
field.From the same menu drag the
measuredStates
into theStates (Blue)
field.From the same menu drag the
robotRotation
into theRobot Rotation
field.
Adjust the Data column to your Swerve Drive's properties.
Under the
Data
column change theMax Speed
field to the value ofSmartDashboard/swerve/maxSpeed
entry.Change the
Rotation Units
to match what theSmartDashboard/swerve/rotationUnit
shows.
(Optional) Adjust the Display column to accurately display your robot's chassis dimensions by changing the Size (Left-Right) and Size (Front-Back) to match what is under SmartDashboard/
swerve/sizeLeftRight
andSmartDashboard/swerve/sizeFrontBack
Overview
The BLUE lines are the measured velocity and position of the swerve module.
The RED lines is the velocity and position of the module sent!
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