Class LiveWindow


  • public class LiveWindow
    extends Object
    The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow.
    • Method Detail

      • isEnabled

        public static boolean isEnabled()
      • setEnabled

        public static void setEnabled​(boolean enabled)
        Set the enabled state of LiveWindow.

        If it's being enabled, turn off the scheduler and remove all the commands from the queue and enable all the components registered for LiveWindow. If it's being disabled, stop all the registered components and reenable the scheduler.

        TODO: add code to disable PID loops when enabling LiveWindow. The commands should reenable the PID loops themselves when they get rescheduled. This prevents arms from starting to move around, etc. after a period of adjusting them in LiveWindow mode.

        Parameters:
        enabled - True to enable LiveWindow.
      • enableTelemetry

        public static void enableTelemetry​(Sendable sendable)
        Enable telemetry for a single component.
        Parameters:
        sendable - component
      • disableTelemetry

        public static void disableTelemetry​(Sendable sendable)
        Disable telemetry for a single component.
        Parameters:
        sendable - component
      • updateValues

        public static void updateValues()
        Tell all the sensors to update (send) their values.

        Actuators are handled through callbacks on their value changing from the SmartDashboard widgets.