The Sendable interface contains only one method: initSendable. Users are also able to easily extend their own classes to implement Sendable. Many WPILib classes (such as Commands) already implement Sendable, and so can be sent to the dashboard without any user modification.
#Wpilib smartdashboard sendables code
This removes the need for teams to handle the iteration-to-iteration logic of sending and receiving values from the dashboard, and also allows teams to separate their telemetry code from their robot logic. Classes that implement Sendable can declaratively send their state to the dashboard - once declared, WPILib will automatically send the telemetry values every robot loop. Sendable ( Java, C++) is an interface provided by WPILib to facilitate robot telemetry. These classes can be declaratively sent to any of the WPILib dashboards (as one would an ordinary data field), removing the need for teams to write their own code to send/poll for updates. Classes that implement Sendable are able to register value listeners that automatically send data to the dashboard - and, in some cases, receive values back. WPILib provides this functionality with the Sendable interface. The WPILib framework can then handle the tedious/tricky part of correctly reading from (and, potentially, writing to) those fields for you, greatly reducing the total amount of code the user has to write and improving readability. While the WPILib dashboard APIs allow users to easily send small pieces of data from their robot code to the dashboard, it is often tedious to manually write code for publishing telemetry values from the robot code’s operational logic.Ī cleaner approach is to leverage the existing object-oriented structure of user code to declaratively mark important data fields for telemetry logging. On-Robot Telemetry Recording Into Data Logs.
Telemetry: Recording and Sending Real-Time Data.
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