Telemetry & Command Logging¶

FtcTelemetryBus¶

FtcTelemetryBus (in com.vcs.valleylib.ftc.telemetry) is a unified telemetry pipe. Data you put(...) once is mirrored to both:

the FTC Driver Station telemetry, and
the Panels dashboard (TelemetryManager).

No more writing every value twice.

telemetryBus.put("Lift height", lift.getHeight());
telemetryBus.put("Heading", drive.getHeading());
// ... once per loop:
telemetryBus.update();

Method	Description
`put(key, value)`	Queue a key/value pair for the current loop
`update()`	Flush everything queued to both outputs, then clear the queue
`clear()`	Discard queued data without sending it (e.g., on phase changes or stop)

Inside a CommandOpMode you get a ready-made telemetryBus field, and update() is called for you at the end of every loop — just put values from run(), subsystems, or commands. On stop(), the OpMode clears any unflushed queue.

Keys keep their insertion order (backed by a LinkedHashMap), so your dashboard layout is stable.

Standalone use¶

Outside CommandOpMode you can construct one yourself:

FtcTelemetryBus bus = new FtcTelemetryBus(
        telemetry,                                  // DS telemetry from OpMode
        PanelsTelemetry.INSTANCE.getTelemetry()     // Panels manager
);

Command lifecycle logging¶

FtcCommandLogger (in com.vcs.valleylib.ftc.logging) is a CommandSchedulerListener that writes command lifecycle events to a telemetry bus:

Event	Telemetry key	Value
Command scheduled	`cmd/scheduled`	`command.getName()`
Command finished	`cmd/finished`	`command.getName()`
Command canceled	`cmd/canceled`	`command.getName()`

Names are readable out of the box — Intake.startEnd, Wait(0.5s), StateMachine[SCORE], FollowPathCommand — and you can label important commands yourself with .withName("Score") (see Command names). This gives you live visibility into what the scheduler is doing — invaluable when a binding "isn't working" or an auto stalls.

Enabling it¶

The one-liner, in any CommandOpMode:

@Override
protected boolean enableCommandLogging() {
    return true;
}

Or attach manually (any scheduler, any bus):

scheduler.addListener(new FtcCommandLogger(telemetryBus));

Custom listeners¶

For richer logging — timestamps, match-log files, filtering — implement the listener yourself:

scheduler.addListener(new CommandSchedulerListener() {
    @Override
    public void onCommandScheduled(Command command) {
        telemetryBus.put("sched@" + timer.seconds(),
                command.getClass().getSimpleName());
    }
});

All three listener methods are default no-ops, so override only what you need.