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Add Logging To Swerve #8

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Add Logging To Swerve #8

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6 changes: 6 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,17 +4,23 @@

package frc.robot;

import edu.wpi.first.epilogue.Epilogue;
import edu.wpi.first.epilogue.Logged;
import edu.wpi.first.wpilibj.DataLogManager;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

@Logged
public class Robot extends TimedRobot {
private Command m_autonomousCommand;

private final RobotContainer m_robotContainer;

public Robot() {
m_robotContainer = new RobotContainer();
DataLogManager.start();
Epilogue.bind(this);
}

@Override
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -10,6 +10,7 @@
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.commands.FollowPathCommand;
import edu.wpi.first.epilogue.Logged;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
Expand All @@ -19,6 +20,7 @@
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;

@Logged
public class RobotContainer {
private double MaxSpeed =
TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
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15 changes: 15 additions & 0 deletions src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
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Expand Up @@ -9,9 +9,11 @@
import com.pathplanner.lib.config.PIDConstants;
import com.pathplanner.lib.config.RobotConfig;
import com.pathplanner.lib.controllers.PPHolonomicDriveController;
import edu.wpi.first.epilogue.Logged;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.wpilibj.DriverStation;
Expand All @@ -27,6 +29,7 @@
* Class that extends the Phoenix 6 SwerveDrivetrain class and implements Subsystem so it can easily
* be used in command-based projects.
*/
@Logged
public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
private static final double kSimLoopPeriod = 0.005; // 5 ms
private Notifier m_simNotifier = null;
Expand Down Expand Up @@ -228,4 +231,16 @@ public void addVisionMeasurement(
super.addVisionMeasurement(
visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds), visionMeasurementStdDevs);
}

public Pose2d getPose() {
return getState().Pose;
}

public SwerveModuleState[] getModuleStates() {
return getState().ModuleStates;
}

public SwerveModuleState[] getModuleTargets() {
return getState().ModuleTargets;
}
}