Basic utils

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

src/main/java/frc/kelrotlib/utils/TunableNumber.java

@@ -0,0 +1,93 @@
+package frc.kelrotlib.utils;
+
+import edu.wpi.first.networktables.*;
+import frc.robot.Constants;
+import dev.doglog.DogLog;
+
+import java.util.EnumSet;
+import java.util.function.Consumer;
+
+public class TunableNumber {
+    private final NetworkTableEntry entry;
+    private double lastValue;
+    private NetworkTableInstance inst = NetworkTableInstance.getDefault();
+
+
+    /**
+     * Constructor with onChange callback
+     * @param key          The name of the tunable value
+     * @param defaultValue The default value if not set on the dashboard
+     * @param onChange     A callback that runs whenever the value changes
+     */
+    public TunableNumber(String key, double defaultValue, Consumer<Double> onChange) {
+        this.lastValue = defaultValue;
+
+        // Get or create the NetworkTable entry for this tunable number
+        entry = NetworkTableInstance.getDefault()
+                .getTable("SmartDashboard")
+                .getEntry("/Tuning" + "/" + key);
+
+        // Set the initial value on the dashboard
+        entry.setDouble(defaultValue);
+
+        // Add a listener to detect changes in the entry
+        inst.addListener(
+                entry,
+                EnumSet.of(NetworkTableEvent.Kind.kValueAll),
+                event -> {
+                    double newValue = entry.getDouble(lastValue);
+
+                    // If the value changed and tuningMode is ON, accept the change
+                    if(this.lastValue != newValue && Constants.tuningMode) {
+                        DogLog.log("/Tuning" + "/" + key, entry.getDouble(lastValue));
+                        this.lastValue = newValue;
+                        onChange.accept(lastValue); // call the callback
+                    } else { 
+                        // Otherwise, reset the value to the last known value
+                        entry.setDouble(this.lastValue);
+                    }
+                });
+    }
+
+    /** 
+     * Constructor without onChange callback
+     * @param key          The name of the tunable value
+     * @param defaultValue The default value if not set on the dashboard
+     */
+    public TunableNumber(String key, double defaultValue) {
+        this.lastValue = defaultValue;
+
+        // Get or create the NetworkTable entry for this tunable number
+        entry = NetworkTableInstance.getDefault()
+                .getTable("SmartDashboard")
+                .getEntry("/Tuning" + "/" + key);
+
+        // Set the initial value on the dashboard
+        entry.setDouble(defaultValue);
+
+        // Add a listener to detect changes in the entry
+        inst.addListener(
+                entry,
+                EnumSet.of(NetworkTableEvent.Kind.kValueAll),
+                event -> {
+                    double newValue = entry.getDouble(lastValue);
+
+                    // If the value changed and tuningMode is ON, accept the change
+                    if(this.lastValue != newValue && Constants.tuningMode) {
+                        DogLog.log("/Tuning" + "/" + key, entry.getDouble(lastValue));
+                        this.lastValue = newValue;
+                    } else { 
+                        // Otherwise, reset the value to the last known value
+                        entry.setDouble(this.lastValue);
+                    }
+                });
+    }
+
+    /* 
+     * Return the current value of this tunable number
+     * This always returns the last accepted value
+     */
+    public double get() {
+        return lastValue;
+    }
+}

src/main/java/frc/robot/Constants.java

@@ -5,5 +5,7 @@
 package frc.robot;
 
 public final class Constants {
-
+
+    public static boolean tuningMode = true;
+
 }

src/main/java/frc/robot/RobotContainer.java

@@ -4,9 +4,13 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.kelrotlib.utils.TunableNumber;
+import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.TunableNumberExample;
 public class RobotContainer {
-
+  private final TunableNumberExample yTunableNumberExample = new TunableNumberExample();
   public RobotContainer() {
     configureBindings();
   }

src/main/java/frc/robot/subsystems/ExampleSubsystem.java

@@ -3,7 +3,9 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class ExampleSubsystem extends SubsystemBase {
-  /** Creates a new ExampleSubsystem. */
+
+
+  /* Creates a new ExampleSubsystem. */
   public ExampleSubsystem() {
 
   }

src/main/java/frc/robot/subsystems/TunableNumberExample.java

@@ -0,0 +1,30 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.kelrotlib.utils.TunableNumber;
+
+public class TunableNumberExample extends SubsystemBase {
+
+  private final TunableNumber newnumber = new TunableNumber("sa", 0);
+
+  private final TunableNumber newnumber2 = new TunableNumber("test2", 0, value -> {
+    System.out.println("Tunable Number is changed, new number is" + value);
+
+  // Usage is not like motor.setVoltage(newnumber)
+  // You should motor.setVoltage(newnumber.get())
+  });
+  /** Creates a new ExampleSubsystem. */
+  public TunableNumberExample() {
+
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
+}

vendordeps/DogLog.json

@@ -0,0 +1,20 @@
+{
+    "javaDependencies": [
+        {
+            "groupId": "com.github.jonahsnider",
+            "artifactId": "doglog",
+            "version": "2025.8.1"
+        }
+    ],
+    "fileName": "DogLog.json",
+    "frcYear": "2025",
+    "jsonUrl": "https://doglog.dev/vendordep.json",
+    "name": "DogLog",
+    "jniDependencies": [],
+    "mavenUrls": [
+        "https://jitpack.io"
+    ],
+    "cppDependencies": [],
+    "version": "2025.8.1",
+    "uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
+}