Advantage Scope

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.

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 everything from advantagescope/ into the Sources field.

   2. You may need to enable your robot before you can add SmartDashboard/swerve/advantagescope/desiredStates

   
2. 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.

   
3. (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

Overview

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

The RED lines are the measured velocity and position of the swerve module.

The BLUE lines is the velocity and position of the module sent!