Tough Techs

WPILib includes a Sendable interface that provides a simple means to publish an object's data for data logging or display on a dashboard. Classes that implement the subsystem interface can simply be published once and the data will automatically be updated as it changes. You can also add your own data to the interface when creating a child of a class with a Sendable interface implementation. Classes that support Sendable include SubsystemBase, DifferentialDrive, PIDController, ProfiledPIDController, gyros, motor controllers and many other hardware interfaces.

References:

WPILIB Robot Telemetry with Sendable - https://docs.wpilib.org/en/stable/docs/software/telemetry/robot-telemetry-with-sendable.html