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Telemetry module

Package: com.crossbotics.ftchelper.telemetry

Learn it hands-on: 06 A fast, clear loop.

Telemetry is the text your program shows on the Driver Station screen. This module makes it easy to read during a match and useful when you hunt for a bug. EasyTeleOp and the robot in five files set it up for you; every mechanism adds its own lines. Use this page to add your own lines, or in an OpMode you write yourself. Start with tutorial 06.

Class	Use it to
`RobotTelemetry`	show lines at two levels (standard for drivers, debug for programmers), warnings on top, and send less often for a faster loop
`TelemetryHelper`	add common lines (a motor, a yes/no) to the SDK’s plain `telemetry` in one call

RobotTelemetry

RobotTelemetry t = new RobotTelemetry(telemetry);       // debug ON in PRACTICE, OFF in COMPETITION
controls.bindPress(Pad.G1, Btn.BACK, t::toggleDebug);   // let the driver switch it
// every loop:
t.section("Lift");
t.line("Height", lift.getTargetName());                 // standard: always shown
t.debug("Power", "%.2f", power);                        // debug: only when debug is on
if (battery < 11.5) t.warn("Battery low!");             // warnings: always, at the top
robot.addTelemetry(t);                                  // every mechanism adds its own lines
t.update();                                             // ONCE, at the end of the loop

Method	What it does
`section(title)`	`--- title ---` heading (standard)
`debugSection(title)`	heading shown only in debug
`line(label, value)` / `line(label, format, args...)`	a driver line
`text(text)`	a plain driver line
`debug(label, value)` / `debug(label, format, args...)`	a programmer line (only in debug)
`warn(text)`	`!! text` at the top, always; the same warning once per loop
`setDebug(on)`, `toggleDebug()`, `isDebug()`	debug level
`setMinIntervalMs(ms)`	send at most every N ms (100 = 10/s is plenty) for a faster loop. Warnings from skipped loops are kept for the next send
`update()`	send (warnings first) and start a fresh screen
`pending()`, `raw()`	the lines waiting (for tests); the SDK telemetry

Standard or debug? Ask: “does the DRIVER need this during a match?” Yes = line. No = debug. Mechanism helpers already split their lines this way.

flowchart TB
    W["!! warnings (always, top)"] --> S["standard lines<br/>drivers: modes, targets, OK/READY"] --> D["debug lines (PRACTICE or toggled)<br/>powers, errors, raw sensor values, loop speed"]

TelemetryHelper

// Each line only ADDS text; nothing is shown until telemetry.update().
TelemetryHelper.section(telemetry, "Lift");
TelemetryHelper.motor(telemetry, "Lift", liftMotor);   // power, position, speed
TelemetryHelper.value(telemetry, "Target", liftTarget, "ticks");
TelemetryHelper.flag(telemetry, "At bottom", lift.isAtLower());   // true/false shown as yes/no
telemetry.update();                                                // send: once per loop

The Driver Station shows:

--- Lift ---
Lift : pwr 0.45 | pos 1203 | vel 812/s
Target : 1500.00 ticks
At bottom : no

Method	Adds
`section(telemetry, title)`	a heading line: `--- title ---`
`value(telemetry, label, number, unit)`	`label : number unit`, 2 decimals
`value(telemetry, label, number, decimals)`	`label : number`, with the decimals you choose
`flag(telemetry, label, boolean)`	`label : yes` or `label : no`
`motor(telemetry, label, motor)`	power, encoder position and speed (counts per second) on one line
`servo(telemetry, label, servo)`	the servo’s last commanded position. (A normal servo cannot report where it really is.)
`num(number, decimals)`	the number as text, e.g. `num(0.4567, 2)` = `"0.46"`. NaN shows as `--`.

These only ADD lines. You still call telemetry.update() once at the end of the loop.

Tips

One telemetry.update() per loop. More than one makes the screen flicker and slows the loop.
Show what the driver needs during a match at the top; put debug numbers lower.
Show the loop speed while you test: TelemetryHelper.value(telemetry, "Loop", loopTimer.getHz(), "Hz") (see LoopTimer in util).