Driver Network Table

src/main/cpp/RobotContainer.cpp

@@ -17,6 +17,8 @@
 #include <frc2/command/StartEndCommand.h>
 #include <frc2/command/WaitUntilCommand.h>
 
+#include <networktables/NetworkTableInstance.h>
+
 #include "commands/AimCommand.h"
 #include "commands/AimShootCommand.h"
 #include "commands/SimpleDriveCommand.h"
@@ -68,6 +70,7 @@ RobotContainer::RobotContainer () {
     frc2::CommandScheduler::GetInstance().RegisterSubsystem(m_PowerCellCounter);
 
     InitAutonomousChooser();
+    // Remember to put this in the driver table later?
     frc::SmartDashboard::PutData("Auto Modes", &m_DashboardAutoChooser);
 
     // Configure the button bindings
@@ -343,5 +346,6 @@ void RobotContainer::ReportSelectedAuto () {
         name = m_DashboardAutoChooser.GetDefaultName();
     }
 
-    frc::SmartDashboard::PutString("Robot sees autonomous", name);
+    auto drivetable = nt::NetworkTableInstance::GetDefault().GetTable(NetTabs::DriveTeamTable);
+    drivetable->PutString("Robot Sees AutoMode:", name);
 }

src/main/cpp/subsystems/Climb.cpp

@@ -2,6 +2,7 @@
 
 #include <ctre/phoenix/motorcontrol/ControlMode.h>
 #include <frc/smartdashboard/SmartDashboard.h>
+#include <networktables/NetworkTableInstance.h>
 
 #include <algorithm>
 
@@ -11,7 +12,9 @@
 Climb::Climb () {}
 
 void Climb::Periodic () {
-    frc::SmartDashboard::PutBoolean("Winch Locked", m_IsWinchLocked);
+    auto drivetable = nt::NetworkTableInstance::GetDefault().GetTable(NetTabs::DriveTeamTable);
+    drivetable->PutBoolean("Winch Locked", m_IsWinchLocked);
+    drivetable->PutBoolean("Climb Piston Extended", m_IsPistonExtended);
 }
 
 void Climb::PistonExtend () {

src/main/cpp/subsystems/Shooter.cpp

@@ -169,14 +169,16 @@ void Shooter::SetLimelightLight (bool on) {
 }
 
 void Shooter::TrackingPeriodic (TrackingMode mode) {
+    auto drivetable = nt::NetworkTableInstance::GetDefault().GetTable(NetTabs::DriveTeamTable);
+
     if (mode == TrackingMode::CameraTracking) {
         double speed = 0;
 
         m_TargetCount = (int) m_VisionTable->GetNumber("tv", -1);
 
         if (m_TargetCount > 0) {
             std::cout << "Count: " << m_TargetCount << std::endl;
-            frc::SmartDashboard::PutBoolean("Limelight Has Target", true);
+            drivetable->PutBoolean("Limelight Has Target", true);
 
             m_TargetErrorX = -m_VisionTable->GetNumber("tx", 0);
             m_TargetErrorY = -m_VisionTable->GetNumber("ty", 0);
@@ -189,15 +191,15 @@ void Shooter::TrackingPeriodic (TrackingMode mode) {
             speed = m_TurretPID->Calculate(m_TargetErrorX);
         } else if (m_TargetCount == 0) {
             std::cout << "No objects detected" << std::endl;
-            frc::SmartDashboard::PutBoolean("Limelight Has Target", false);
+            drivetable->PutBoolean("Limelight Has Target", false);
         } else {
             std::cout << "Variable tv does not exist in table limelight-gears" << std::endl;
-            frc::SmartDashboard::PutBoolean("Limelight Has Target", false);
+            drivetable->PutBoolean("Limelight Has Target", false);
         }
 
         SetTurretSpeed(speed);
     } else {
-        frc::SmartDashboard::PutBoolean("Limelight Has Target", false);
+        drivetable->PutBoolean("Limelight Has Target", false);
         SetLimelightLight(false);
         return;
     }

src/main/include/Constants.h

@@ -1,5 +1,9 @@
 #pragma once
 
+namespace NetTabs {
+    const std::string DriveTeamTable = "Driving";
+}
+
 namespace ConfigFiles {
     const std::string ConfigFile     = "config.toml";
     const std::string AutoConfigFile = "auto.toml";