Sensors

YAMS Supports simulation really well, but my sensors don't.

What is a Sensor?

A Sensor is a wrapper around what would be a real sensor on your robot, like a CanandColor, beam break, CANRange, LaserCAN, or anything else! While some of these have really good simulation capabilities; others have no simulation capabilities.

Sensors essentially report back primitive values. Sometimes we know the sensor should trip at a certain time during the match, like autonomous, or under certain conditions like game piece trade offs or intaking for a second or more. Sometimes we want to trigger the sensor ourselves too!

How do I create a Sensor?

Using a Sensor wrapper will NEVER be as fast or efficient as using the original input.

You can create a sensor using SensorConfig which is where you define the Sensor name, and fields.

private DigitalInput dio = new DigitalInput(0); // Standard DIO
private final Sensor coralSensor = new SensorConfig("CoralDetectorBeamBreak") // Name of the sensor 
  .withField("Beam", dio::get, false) // Add a Field to the sensor named "Beam" whose value is dio.get() and defaults to false
  .withSimulatedValue("Beam", Seconds.of(3), Seconds.of(4), true) // Change the "Beam" field to true between 3s and 4s into a match
  .withSimulatedValue("Beam",()->arm.isNear(Degrees.of(40), Degrees.of(2)), true) // Change "Beam" field to true when the arm is near 40deg +- 2deg
  .getSensor(); // Get the sensor.

You can use int, long, double, or bool as sensor field values.

How do I add simulated values to a sensor?

You can add simulated values to an existing Sensor using Sensor.addSimTrigger like below.

private DigitalInput dio = new DigitalInput(0); // Standard DIO
private final Sensor coralSensor = new SensorConfig("CoralDetectorBeamBreak") // Name of the sensor 
  .withField("Beam", dio::get, false) // Add a Field to the sensor named "Beam" whose value is dio.get() and defaults to false
  .withSimulatedValue("Beam", Seconds.of(3), Seconds.of(4), true) // Change the "Beam" field to true between 3s and 4s into a match
  .getSensor(); // Get the sensor.

...
coralSensor.addSimTrigger("Beam",()->arm.isNear(Degrees.of(40), Degrees.of(2)), true); // Change "Beam" field to true when the arm is near 40deg +- 2deg

What does this look like?

The circled value changes when the Arm is near 40deg +-2 deg. You can also change it in the Simulation GUI manually.

How do I use the value from a Sensor?

The sensor field value will only automatically update if the sensor is checked!

Instead of doing dio.get() in the example, you would have to do coralSensor.getAsBoolean("Beam") like the example below.

public boolean getBeamBreak()
{
  // return dio.get() // Will not work because the value is not modified by Sensor or automatically updated.
  return coralSensor.getAsBoolean("Beam");
}

How do I simulate the sensor value?

You can set the sensor value manually by getting the field (.getField) from a sensor and calling the .set function. It will overwrite the previous value of the sensor field until its changed from glass or via .set again.

This will only change the sensor value when running under simulations. It does not affect the real value whenr unning on the robot.

public void setBeamBreakWhenArmIsLow()
{
    new Trigger(arm::isLow).onTrue(Commands.run(()->coralSensor.getField("Beam").set(true)));
}