Gamepad and telemetry docs

src/content/docs/hardware/actuators/feedback-servos.mdx

@@ -21,7 +21,7 @@ All of these below are interchangeable with `NextFeedbackCRServo`.
 val armServo = NextFeedbackServo("armServo", NextAnalogInput("armEncoder"))
 
 // By Lynx Module and port
-val armServo = NextFeedbackServo(RobotController.expansionHub, 0, NextAnalogInput(RobotController.expansionHub, 0))
+val armServo = NextFeedbackServo(RobotController.controlHub, 0, NextAnalogInput(RobotController.controlHub, 0))
 ```
 
 </TabItem>
@@ -32,7 +32,7 @@ val armServo = NextFeedbackServo(RobotController.expansionHub, 0, NextAnalogInpu
 NextFeedbackServo armServo = new NextFeedbackServo("armServo", new NextAnalogInput("armEncoder"));
 
 // By Lynx Module and port
-NextFeedbackServo armServo = new NextFeedbackServo(RobotController.getExpansionHub(), 0, new NextAnalogInput(RobotController.getExpansionHub(), 0));
+NextFeedbackServo armServo = new NextFeedbackServo(RobotController.controlHub(), 0, new NextAnalogInput(RobotController.controlHub(), 0));
 ```
 
 </TabItem>

src/content/docs/robot/command-gamepad.mdx

@@ -0,0 +1,79 @@
+---
+title: Command Gamepad
+description: Mapping gamepad buttons to Triggers with CommandGamepad
+sidebar:
+  order: 1
+---
+
+import { Tabs, TabItem } from "@astrojs/starlight/components";
+
+`CommandGamepad` wraps the standard FTC `Gamepad` and exposes its buttons and sticks as command-based `Trigger`s.
+This lets you map controller inputs directly to commands using the WPILib-style Trigger API.
+
+## Creating a CommandGamepad
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+
+```kotlin
+val gp1 = CommandGamepad(gamepad1)
+```
+
+</TabItem>
+<TabItem label="Java">
+
+```java
+CommandGamepad gp1 = new CommandGamepad(gamepad1);
+```
+
+</TabItem>
+</Tabs>
+
+`CommandGamepad` accepts an optional `eventLoop` parameter, defaulting to `Trigger.defaultEventLoop`.
+You generally won't need to override it unless you're managing multiple event loops.
+
+## Usage
+
+Every `button` is exposed as a `Trigger`, which you can bind to commands with methods like `onTrue()` or `onFalse()` etc.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+
+```kotlin
+gp1.circle.onTrue(robot.intake.on())
+gp1.circle.onFalse(robot.intake.off())
+```
+
+</TabItem>
+<TabItem label="Java">
+
+```java
+gp1.circle().onTrue(robot.intake.on());
+gp1.circle().onFalse(robot.intake.off());
+
+```
+
+</TabItem>
+</Tabs>
+
+### Sticks and Triggers
+
+Joysticks and gamepad triggers are exposed as `RangeTrigger`s instead of regular `Trigger`s,
+since they report an analog value rather than a boolean value, letting you
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+
+```kotlin
+gp1.rightTrigger.isOver(0.2).onTrue(robot.launcher.launch())
+```
+
+</TabItem>
+<TabItem label="Java">
+
+```java
+gp1.rightTrigger().isOver(0.2).onTrue(robot.launcher.launch());
+```
+
+</TabItem>
+</Tabs>

src/content/docs/robot/commands.mdx

@@ -2,7 +2,7 @@
 title: Commands
 description: How NextFTC schedules commands, and where to find the full command API.
 sidebar:
-  order: 1
+  order: 5
 ---
 
 import { Tabs, TabItem } from "@astrojs/starlight/components";

src/content/docs/robot/telemetry.mdx

@@ -0,0 +1,113 @@
+---
+title: Telemetry
+description: Broadcasting telemetry to multiple destinations with Telemetry
+sidebar:
+  order: 6
+---
+
+import { Tabs, TabItem } from "@astrojs/starlight/components";
+
+`Telemetry` lets you send data to the Driver Station, FTC Dashboard, or anywhere else, all at once.
+The `Telemetry` functions are all static; you don't need to create your own telemetry instances.
+By default, everything goes to the Driver Station.
+If you want it to also show up somewhere else, register another backend.
+
+## Usage
+
+### `log(key, value)` / `log(line)`
+
+Logs a data pair, or a raw string, to every registered backend.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+
+```kotlin
+Telemetry.log("Arm Position", arm.position)
+Telemetry.log("Ready")
+```
+
+</TabItem>
+<TabItem label="Java">
+
+```java
+Telemetry.log("Arm Position", arm.getPosition());
+Telemetry.log("Ready");
+```
+
+</TabItem>
+</Tabs>
+
+### `update()`
+
+Sends everything you've logged out to all your backends. `TelemetryHook` already calls this for you every loop, so you usually won't need to call it yourself.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+
+```kotlin
+Telemetry.update()
+```
+
+</TabItem>
+<TabItem label="Java">
+
+```java
+Telemetry.update();
+```
+
+</TabItem>
+</Tabs>
+
+### `addBackend(backend)`
+
+Adds another place for your telemetry to go.
+You can pass in a `TelemetryBackend`, or a regular FTC SDK `Telemetry` instance (like the one from FTC Dashboard) and it'll be wrapped for you automatically.
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+
+```kotlin
+Telemetry.addBackend(FtcDashboard.getInstance().telemetry)
+```
+
+</TabItem>
+<TabItem label="Java">
+
+```java
+Telemetry.addBackend(FtcDashboard.getInstance().getTelemetry());
+```
+
+</TabItem>
+</Tabs>
+
+## Logging with FateWeaver
+
+[FateWeaver](https://github.com/HermesFTC/FateWeaver#usage) is a RoadRunner-log based data logging library for FTC.
+Its `FlightRecorder` implements the standard FTC SDK `Telemetry` interface, so you can register it directly as a backend using the `addBackend(SdkTelemetry)` overload
+
+<Tabs syncKey="language">
+<TabItem label="Kotlin">
+
+```kotlin
+Telemetry.addBackend(FlightRecorder)
+```
+
+</TabItem>
+<TabItem label="Java">
+
+```java
+Telemetry.addBackend(FlightRecorder.INSTANCE);
+```
+
+</TabItem>
+</Tabs>
+
+Once registered, every `Telemetry.log()` call also gets written to your FateWeaver logs, which is viewable and downloadable from the robot's web dashboard using either [`http://192.168.43.1:8080/fate`](http://192.168.43.1:8080/fate) (Control Hub) or [`http://192.168.49.1:8080/fate`](http://192.168.49.1:8080/fate) (RC phone), and openable in [AdvantageScope](https://docs.advantagescope.org/overview/installation/).
+
+A couple of things to know about logging through `Telemetry` this way:
+
+- All data is logged as strings, to stay compatible with `Telemetry`.
+- Each new caption you log automatically creates its own log channel in FateWeaver.
+
+If you want typed channels, custom schemas, or other FateWeaver-specific features (`FlightRecorder.createChannel()`, `CustomStructSchema`, etc.), use the FateWeaver API directly.
+See the [FateWeaver documentation](https://github.com/HermesFTC/FateWeaver#usage) for details.