ReflectLib

Reflect and some of its widgets require specific data representation to visualize complex information.

Reflect widgets are limited to a single slot for channel binding purposes. This is an architectural compromise between convenience and implementation complexity. To facilitate visualization of complex data such as swerve telemetry or match period/time we require channel data to be serialized in a specific way.

We provide implementations that you can copy-paste into your robot project code and instructions on how to setup publishing to take advantage of these features.

Installation

Copy-paste corresponding files into your robot project code. For Java projects, we recommend placing these under lib folder inside your robot code folder (i.e. /src/main/java/frc/robot/lib).

If you choose to place these files elsewhere you would have to modify the package line accordingly:

package frc.robot.lib;

Note

Java-only implementation at this time.

Match Time

Copy-paste the following file into your robot project code: https://github.com/2702rebels/reflect/blob/main/reflectlib/MatchTime.java

Robot Telemetry with Annotations (Epilogue)

If you are using Robot Telemetry with Annotations add the following to your Robot class:

@Logged(name = "MatchTime")
private final MatchTime matchTime = new MatchTime(2026);

Update the instance in your robot periodic method:

@Override
public void robotPeriodic() {
  matchTime.update(MatchTime.kGameData2026.get());
}

The data will be published to /Robot/MatchTime, unless you have a custom configuration for Epilogue.

Manual publishing

If you prefer to publish manually setup the publisher and update it your robot periodic method.

In your Robot class:

private final MatchTime matchTime = new MatchTime(2026);
private final StructPublisher<MatchTime> matchTimeTopic =
  NetworkTableInstance.getDefault()
    .getTable("Robot")
    .getStructTopic("MatchTime", MatchTime.struct)
    .publish();

In your robot period method:

@Override
public void robotPeriodic() {
  matchTime.update(MatchTime.kGameData2026.get());
  matchTimeTopic.set(matchTime);
}

Swerve Telemetry

Copy-paste the following file into your robot project code: https://github.com/2702rebels/reflect/blob/main/reflectlib/SwerveTelemetry.java

Construct telemetry instance based on your swerve implementation and publish using Epilogue or manual publishing. See Match Time instructions above for general guidance.

For example, for CTRE swerve:

private final SwerveTelemetry telemetry = new SwerveTelemetry();

public void update(SwerveDriveState state) {
  telemetry.rotation = state.Pose.getRotation();
  telemetry.currentSpeeds = state.Speeds;
  telemetry.currentStates = state.ModuleStates;
  telemetry.desiredStates = state.ModuleTargets;
}