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⚙️ Mechanism

The mechanism tab displays a a jointed mechanism created with one or more Mechanism2d objects.

Note: To view the mechanism visualization alongside other tabs, click the "Add Window" icon just below the navigation/playback controls. To hide the controls at the bottom of the window, click the eye icon.

Overview of mechanism tab

Publishing Data​

To publish mechanism data using WPILib, send a Mechanism2d object to NetworkTables (shown below). If data logging is enabled, the mechanisms can also be viewed based the generated WPILOG file.

Mechanism2d mechanism = new Mechanism2d(3, 3);
SmartDashboard.putData("MyMechanism", mechanism);

To publish mechanism data using AdvantageKit, record a Mechanism2d as an output field (shown below). Note that this call only records the current state of the Mechanism2d, so it must be called every loop cycle after the object is updated.

Mechanism2d mechanism = new Mechanism2d(3, 3);
Logger.getInstance().recordOutput("MyMechanism", mechanism);

Configuration​

To selected a mechanism, drag it to one of the labeled boxes. To remove a mechanism, right-click the box. Up to three mechanisms can be displayed simultaneously. For example, the setpoints and measured states can be logged separately and merged in AdvantageScope to allow for greater flexibility in visualization.