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advantage-scope.md

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Advantage Scope is a data visualization tool, courtesy of team 6328 Mechanical Advantage, which can visualize the Swerve Drive to give you feedback for debugging.

Advantage Scope

Opening

Since the 2024 Season, Advantage Scope has been included with the WPILib installation. There is no external download required, however with every WPILib update you should re-download the WPILib installer to get the latest version of WPILib tools.

Configuring Advantage Scope

  1. Connect laptop to robot
  2. Open AdvantageScope (WPILib) or in VS Code open the command palette and type in WPILib: Start Tool and click AdvantageScope
  3. Click Help then Show Preferences

Advantage Scope's help menu

  1. Input the roboRIO IP address based off of your team number. 10.TE.AM.2

roboRIO Address field highlighted

  1. Connect to the robot (or the simulator)

Connect to Robot menu

  1. Add a new tab by clicking the + on the right side of the window

Add new tab

  1. Add a new 🦀 Swerve tab

Swerve tab

  1. Connect the module states and rotation from Smart Dashboard to the Fields.
    1. Under the SmartDashboard/swerve menu drag the desiredStates into the States (Red) field.
    2. From the same menu drag the measuredStates into the States (Blue) field.
    3. From the same menu drag the robotRotation into the Robot Rotation field.

Connecting data from network tables to the swerve fields

  1. Adjust the Data column to your Swerve Drive's properties.
    1. Under the Data column change the Max Speed field to the value of SmartDashboard/swerve/maxSpeed entry.
    2. Change the Rotation Units to match what the SmartDashboard/swerve/rotationUnit shows.

Change the swerve drive's data to match your robot

  1. (Optional) Adjust the Display column to accurately display your robot's chassis dimensions by changing the Size (Left-Right) and Size (Front-Back) to match what is under SmartDashboard/swerve/sizeLeftRight and SmartDashboard/swerve/sizeFrontBack

Change the swerve's display parameters to represent your robot's actual dimensions

Overview

Swerve Drivebase while in motion with an incorrect configuration.
(Need to change this to an actual picture of Advantage Scope)

{% hint style="info" %} The BLUE lines are the measured velocity and position of the swerve module.

The RED lines is the velocity and position of the module sent! {% endhint %}