Use AdvantageKit logging

.gitignore

@@ -160,3 +160,6 @@ bin/
 
 # Simulation GUI and other tools window save file
 *-window.json
+
+# AdvantageKit git metadata
+src/main/java/frc/robot/BuildConstants.java

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "com.peterabeles.gversion" version "1.10"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -71,6 +72,9 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {
@@ -100,3 +104,27 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+}
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+    srcDir       = "src/main/java/"
+    classPackage = "frc.robot"
+    className    = "BuildConstants"
+    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+    timeZone     = "America/Los_Angeles"
+    indent       = "    "
+}

src/main/java/frc/robot/Constants.java

@@ -160,13 +160,6 @@ public static final class LEDConstants {
         public static final int LED_LENGTH = 144;
     }
 
-    public static final class GripperConstants {
-        public static final int PFFT_FORWARD_IDL = 0;
-        public static final int PFFT_REVERSE_IDL = 1;
-        public static final int PFFT_FORWARD_IDR = 2;
-        public static final int PFFT_REVERSE_IDR = 3;
-    }
-
     public static final class RollerConstants {
         public static final int OPEN_ID = 12;
         public static final int LEFT_ID = 13;
@@ -175,16 +168,4 @@ public static final class RollerConstants {
 
         public static final double ALLOW_OPEN_EXTENSION_METERS = Units.inchesToMeters(17);
     }
-
-    public static final class MoverConstants {
-        public static final int ROTATION_MOTOR_PORT = 4;
-        public static final int ROTATION_FOLLOWER_MOTOR_PORT = 5;
-        public static final int EXTENSION_MOTOR_PORT = 19;
-
-        public static final double ROTATION_GEAR_RATIO = 1/155.91;
-        public static final double EXTENSION_GEAR_RATIO = 1/27;
-
-        public static final double ANGLE_OFFSET_SPEED = 0.001;
-        public static final double EXTENSION_OFFSET_SPEED = 0.001;
-    }
 }

src/main/java/frc/robot/Robot.java

@@ -4,7 +4,16 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.inputs.LoggedPowerDistribution;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -17,13 +26,40 @@
  * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
     private RobotContainer robotContainer;
     private Command autonomousCommand;
     private Command testCommand;
 
     @Override
     public void robotInit() {
+        Logger logger = Logger.getInstance();
+
+        logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+        logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+        logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+        logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+        logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+        logger.recordMetadata("GitDirty", switch (BuildConstants.DIRTY) {
+            case 0 -> "All changes committed";
+            case 1 -> "Uncommitted changes";
+            default -> "Unknown";
+        });
+
+        if (isReal()) {
+            // TODO: folder path
+            logger.addDataReceiver(new WPILOGWriter("/media/sda1/"));
+            logger.addDataReceiver(new NT4Publisher());
+            LoggedPowerDistribution.getInstance(1, ModuleType.kRev); // TODO: module ID
+        } else {
+            setUseTiming(false);
+            String logPath = LogFileUtil.findReplayLog();
+            logger.setReplaySource(new WPILOGReader(logPath));
+            logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
+        }
+
+        logger.start();
+
         // Instantiate our RobotContainer. This will perform all our button bindings, and put our
         // autonomous chooser on the dashboard.
         robotContainer = new RobotContainer();

src/main/java/frc/robot/RobotContainer.java

@@ -4,9 +4,12 @@
 
 package frc.robot;
 
+import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
+
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -46,7 +49,12 @@
 import frc.robot.vision.PhotonWrapper;
 import frc.robot.subsystems.drivetrain.TankSubsystem;
 import frc.robot.subsystems.leds.LEDSubsystem;
+import frc.robot.subsystems.roller.RollerIO;
+import frc.robot.subsystems.roller.RollerIOReal;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
+import frc.robot.subsystems.tiltedelevator.TiltedElevatorIO;
+import frc.robot.subsystems.tiltedelevator.TiltedElevatorIOReal;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState.OffsetState;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
@@ -55,7 +63,6 @@
 import frc.robot.subsystems.drivetrain.SwerveSubsystem;
 import frc.robot.subsystems.drivetrain.SwerveSubsystem2020;
 import frc.robot.subsystems.drivetrain.BaseDrivetrain;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.Superstructure;
 
 /**
@@ -102,7 +109,7 @@ public class RobotContainer {
 
     // Commands
     private final ShuffleboardTab shuffleboardTab = Shuffleboard.getTab("Driver");
-    private final SendableChooser<Command> autonChooser;
+    private final LoggedDashboardChooser<Command> autonChooser;
     private final MotorTestCommand testCommand;
 
     private final BaseBalancerCommand balancerCommand;
@@ -119,18 +126,24 @@ public RobotContainer() {
 
         signalLEDSubsystem = new LEDSubsystem(); 
 
+        if (RobotBase.isReal()) {
+            rollerSubsystem = new RollerSubsystem(new RollerIOReal());
+            tiltedElevatorSubsystem = new TiltedElevatorSubsystem(new TiltedElevatorIOReal());
+        } else {
+            rollerSubsystem = new RollerSubsystem(new RollerIO() {});
+            tiltedElevatorSubsystem = new TiltedElevatorSubsystem(new TiltedElevatorIO() {});
+        }
+
         // driveSubsystem = new MissileShellSwerveSubsystem();
         driveSubsystem = new SwerveSubsystem(photonWrapper, signalLEDSubsystem);
-        rollerSubsystem = new RollerSubsystem();
-        tiltedElevatorSubsystem = new TiltedElevatorSubsystem();
 
         superstructure = new Superstructure(rollerSubsystem, tiltedElevatorSubsystem, signalLEDSubsystem, switchableCamera);
 
         balancerCommand = new DefaultBalancerCommand(driveSubsystem);
 
         // Initialize auton and test commands
-        autonChooser = new SendableChooser<>();
-        autonChooser.setDefaultOption("Skip auton", new InstantCommand());
+        autonChooser = new LoggedDashboardChooser<>("Auton/Path");
+        autonChooser.addDefaultOption("Skip auton", new InstantCommand());
 
         if (driveSubsystem instanceof BaseSwerveSubsystem) {
             final BaseSwerveSubsystem swerveSubsystem = (BaseSwerveSubsystem) driveSubsystem;
@@ -306,7 +319,7 @@ private void configureMechBindings() {
      * @return the command to run in autonomous
      */
     public Command getAutonomousCommand() {
-        return autonChooser.getSelected();
+        return autonChooser.get();
     }
 
     /**

src/main/java/frc/robot/commands/auton/BalanceAndTaxiAutonSequence.java

@@ -6,8 +6,8 @@
 import frc.robot.commands.balancing.DefaultBalancerCommand;
 import frc.robot.commands.balancing.GoOverCommand;
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 
 public class BalanceAndTaxiAutonSequence extends BaseAutonSequence {

src/main/java/frc/robot/commands/auton/BalanceAutonSequence.java

@@ -5,8 +5,8 @@
 
 import frc.robot.commands.balancing.DefaultBalancerCommand;
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 
 public class BalanceAutonSequence extends BaseAutonSequence {

src/main/java/frc/robot/commands/auton/BaseAutonSequence.java

@@ -15,8 +15,8 @@
 import frc.robot.commands.swerve.FollowPathCommand;
 import frc.robot.commands.swerve.SwerveIdleCommand;
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 

src/main/java/frc/robot/commands/auton/BottomBalanceAutonSequence.java

@@ -10,8 +10,8 @@
 import frc.robot.commands.swerve.FollowPathCommand;
 import frc.robot.positions.FieldPosition;
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 
 public class BottomBalanceAutonSequence extends BaseAutonSequence {

src/main/java/frc/robot/commands/auton/BottomOnePieceAutonSequence.java

@@ -7,8 +7,8 @@
 import frc.robot.commands.swerve.FollowPathCommand;
 import frc.robot.positions.FieldPosition;
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 
 public class BottomOnePieceAutonSequence extends BaseAutonSequence {

src/main/java/frc/robot/commands/auton/BottomTwoPieceAutonSequence.java

@@ -7,8 +7,8 @@
 import frc.robot.commands.swerve.FollowPathCommand;
 import frc.robot.positions.FieldPosition;
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 

src/main/java/frc/robot/commands/auton/PreloadedOnlyAutonSequence.java

@@ -1,8 +1,8 @@
 package frc.robot.commands.auton;
 
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 
 public class PreloadedOnlyAutonSequence extends BaseAutonSequence {

src/main/java/frc/robot/commands/auton/TopOnePieceAutonSequence.java

@@ -7,8 +7,8 @@
 import frc.robot.commands.swerve.FollowPathCommand;
 import frc.robot.positions.FieldPosition;
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 
 public class TopOnePieceAutonSequence extends BaseAutonSequence {

src/main/java/frc/robot/commands/auton/TopTwoPieceAutonSequence.java

@@ -6,8 +6,8 @@
 
 import frc.robot.positions.FieldPosition;
 import frc.robot.positions.PlacePosition;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseSwerveSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 

src/main/java/frc/robot/commands/dropping/DropSequence.java

@@ -6,8 +6,8 @@
 
 import frc.robot.commands.grabber.RollerPlaceCommand;
 import frc.robot.commands.mover.TiltedElevatorCommand;
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseDrivetrain;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState.OffsetState;

src/main/java/frc/robot/commands/dropping/DropperChooserCommand.java

@@ -3,8 +3,8 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.drivetrain.BaseDrivetrain;
+import frc.robot.subsystems.roller.RollerSubsystem;
 import frc.robot.subsystems.tiltedelevator.ElevatorState;
 import frc.robot.subsystems.tiltedelevator.TiltedElevatorSubsystem;
 

src/main/java/frc/robot/commands/grabber/RollerIntakeCommand.java

@@ -2,8 +2,8 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
-import frc.robot.subsystems.RollerSubsystem;
-import frc.robot.subsystems.RollerSubsystem.HeldPiece;
+import frc.robot.subsystems.roller.RollerSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem.HeldPiece;
 
 /**
  * Intakes 1 game piece with the roller mech. This command runs the rollers at a set power

src/main/java/frc/robot/commands/grabber/RollerPlaceCommand.java

@@ -3,8 +3,8 @@
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
-import frc.robot.subsystems.RollerSubsystem;
-import frc.robot.subsystems.RollerSubsystem.HeldPiece;
+import frc.robot.subsystems.roller.RollerSubsystem;
+import frc.robot.subsystems.roller.RollerSubsystem.HeldPiece;
 
 /**
  * Places 1 game piece with the roller mech. This command runs the rollers in reverse