- common.utility.annotations.AutoCommand (implements java.lang.annotation.Annotation)
diff --git a/doc/type-search-index.js b/doc/type-search-index.js
index f4242f3..5b8a52b 100644
--- a/doc/type-search-index.js
+++ b/doc/type-search-index.js
@@ -1 +1 @@
-typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"common.utility.annotations","l":"AutoCommand"},{"p":"common.hardware.camera","l":"Camera"},{"p":"common.utility.sysid","l":"CmdSysId"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Control"},{"p":"common.core.controllers","l":"Controller"},{"p":"common.core.controllers","l":"ControllerBase"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.ControllerType"},{"p":"common.core.swerve","l":"CTREModuleState"},{"p":"common.utility.tester","l":"CurrentTest"},{"p":"common.core.subsystems","l":"ElevatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.EncoderType"},{"p":"common.utility.sysid","l":"FFCharacterization"},{"p":"common.hardware.limelight","l":"LEDMode"},{"p":"common.hardware.limelight","l":"Limelight"},{"p":"common.hardware.limelight","l":"LimelightConstants"},{"p":"common.hardware.limelight","l":"LimelightData"},{"p":"common.hardware.limelight","l":"LimelightKey"},{"p":"common.utility","l":"Log"},{"p":"common.core.misc","l":"NAR_Robot.LoggingState"},{"p":"common.core.subsystems","l":"ManipulatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.MotorConfig"},{"p":"common.hardware.motorcontroller","l":"MotorControllerConstants"},{"p":"common.hardware.input","l":"NAR_ButtonBoard"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark"},{"p":"common.hardware.input","l":"NAR_Joystick"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.NAR_MotorIO"},{"p":"common.core.commands","l":"NAR_PIDCommand"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem"},{"p":"common.core.misc","l":"NAR_Robot"},{"p":"common.utility.shuffleboard","l":"NAR_Shuffleboard"},{"p":"common.hardware.motorcontroller","l":"NAR_TalonFX"},{"p":"common.hardware.motorcontroller","l":"NAR_TalonSRX"},{"p":"common.hardware.input","l":"NAR_XboxController"},{"p":"common.utility.annotations","l":"NARUpdateable"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Neutral"},{"p":"common.hardware.camera","l":"ParseJson"},{"p":"common.core.controllers","l":"PIDFFConfig"},{"p":"common.hardware.limelight","l":"Pipeline"},{"p":"common.core.subsystems","l":"PivotTemplate"},{"p":"common.utility.tester","l":"PlateauTest"},{"p":"common.utility.sysid","l":"PolynomialDerivative"},{"p":"common.utility.sysid","l":"PolynomialRegression"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem.SetpointTest"},{"p":"common.core.subsystems","l":"ShooterTemplate"},{"p":"common.utility.annotations","l":"ShuffleboardData"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.SparkMaxConfig"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard.State"},{"p":"common.hardware.limelight","l":"StreamMode"},{"p":"common.core.swerve","l":"SwerveBase"},{"p":"common.core.swerve","l":"SwerveConversions"},{"p":"common.core.swerve","l":"SwerveModuleConfig.SwerveEncoderConfig"},{"p":"common.core.swerve","l":"SwerveModule"},{"p":"common.core.swerve","l":"SwerveModuleConfig"},{"p":"common.core.swerve","l":"SwerveModuleConfig.SwerveMotorConfig"},{"p":"common.utility.tester","l":"Tester.SystemsTest"},{"p":"common.utility.tester","l":"Tester.Test"},{"p":"common.utility.tester","l":"Tester"},{"p":"common.utility.tester","l":"Tester.TestState"},{"p":"common.utility.tester","l":"ThresholdTest"},{"p":"common.core.controllers","l":"TrapController"},{"p":"common.core.controllers","l":"Controller.Type"},{"p":"common.hardware.input","l":"NAR_XboxController.XboxButton"}];updateSearchResults();
\ No newline at end of file
+typeSearchIndex = [{"l":"All Classes and Interfaces","u":"allclasses-index.html"},{"p":"common.utility.annotations","l":"AutoCommand"},{"p":"common.hardware.camera","l":"Camera"},{"p":"common.utility.sysid","l":"CmdSysId"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Control"},{"p":"common.core.controllers","l":"Controller"},{"p":"common.core.controllers","l":"ControllerBase"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.ControllerType"},{"p":"common.core.swerve","l":"CTREModuleState"},{"p":"common.utility.tester","l":"CurrentTest"},{"p":"common.core.subsystems","l":"ElevatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.EncoderType"},{"p":"common.utility.sysid","l":"FFCharacterization"},{"p":"common.hardware.limelight","l":"LEDMode"},{"p":"common.hardware.limelight","l":"Limelight"},{"p":"common.hardware.limelight","l":"LimelightConstants"},{"p":"common.hardware.limelight","l":"LimelightData"},{"p":"common.hardware.limelight","l":"LimelightKey"},{"p":"common.utility","l":"Log"},{"p":"common.core.misc","l":"NAR_Robot.LoggingState"},{"p":"common.core.subsystems","l":"ManipulatorTemplate"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.MotorConfig"},{"p":"common.hardware.motorcontroller","l":"MotorControllerConstants"},{"p":"common.hardware.input","l":"NAR_ButtonBoard"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark"},{"p":"common.hardware.input","l":"NAR_Joystick"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor"},{"p":"common.core.commands","l":"NAR_PIDCommand"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem"},{"p":"common.core.misc","l":"NAR_Robot"},{"p":"common.utility.shuffleboard","l":"NAR_Shuffleboard"},{"p":"common.hardware.motorcontroller","l":"NAR_TalonFX"},{"p":"common.hardware.motorcontroller","l":"NAR_TalonSRX"},{"p":"common.hardware.input","l":"NAR_XboxController"},{"p":"common.utility.annotations","l":"NARUpdateable"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard"},{"p":"common.hardware.motorcontroller","l":"NAR_Motor.Neutral"},{"p":"common.hardware.camera","l":"ParseJson"},{"p":"common.core.controllers","l":"PIDFFConfig"},{"p":"common.hardware.limelight","l":"Pipeline"},{"p":"common.core.subsystems","l":"PivotTemplate"},{"p":"common.utility.tester","l":"PlateauTest"},{"p":"common.utility.sysid","l":"PolynomialDerivative"},{"p":"common.utility.sysid","l":"PolynomialRegression"},{"p":"common.core.subsystems","l":"NAR_PIDSubsystem.SetpointTest"},{"p":"common.core.subsystems","l":"ShooterTemplate"},{"p":"common.utility.annotations","l":"ShuffleboardData"},{"p":"common.hardware.motorcontroller","l":"NAR_CANSpark.SparkMaxConfig"},{"p":"common.utility.narwhaldashboard","l":"NarwhalDashboard.State"},{"p":"common.hardware.limelight","l":"StreamMode"},{"p":"common.core.subsystems","l":"SubsystemState"},{"p":"common.core.swerve","l":"SwerveBase"},{"p":"common.core.swerve","l":"SwerveConversions"},{"p":"common.core.swerve","l":"SwerveModuleConfig.SwerveEncoderConfig"},{"p":"common.core.swerve","l":"SwerveModule"},{"p":"common.core.swerve","l":"SwerveModuleConfig"},{"p":"common.core.swerve","l":"SwerveModuleConfig.SwerveMotorConfig"},{"p":"common.utility.tester","l":"Tester.SystemsTest"},{"p":"common.utility.tester","l":"Tester.Test"},{"p":"common.utility.tester","l":"Tester"},{"p":"common.utility.tester","l":"Tester.TestState"},{"p":"common.utility.tester","l":"ThresholdTest"},{"p":"common.core.controllers","l":"TrapController"},{"p":"common.core.controllers","l":"Controller.Type"},{"p":"common.hardware.input","l":"NAR_XboxController.XboxButton"}];updateSearchResults();
\ No newline at end of file
diff --git a/src/main/java/common/core/misc/NAR_Robot.java b/src/main/java/common/core/misc/NAR_Robot.java
index 8216086..5a7651f 100644
--- a/src/main/java/common/core/misc/NAR_Robot.java
+++ b/src/main/java/common/core/misc/NAR_Robot.java
@@ -7,10 +7,6 @@
import java.util.List;
import java.util.PriorityQueue;
-import org.littletonrobotics.junction.AutoLogOutputManager;
-import org.littletonrobotics.junction.Logger;
-import org.littletonrobotics.junction.wpilog.WPILOGWriter;
-
import edu.wpi.first.hal.DriverStationJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.NotifierJNI;
@@ -22,15 +18,12 @@
/**
* Team 3128's Custom Robot class
- *
- * Includes AdvantageKit and addPeriodic()
- *
+ *
*
NOTES:
*
* - TimedRobot implements the IterativeRobotBase robot program framework.
*
- The TimedRobot class is intended to be subclassed by a user creating a robot program.
*
- Periodic() functions from the base class are called on an interval by a Notifier instance.
- *
- AdvantageKit logging is disabled by default.
*
*
* ----------------------------------------------
@@ -40,8 +33,6 @@
*/
public class NAR_Robot extends IterativeRobotBase {
- public static boolean logWithAdvantageKit = false;
-
@SuppressWarnings("MemberName")
static class Callback implements Comparable {
public Runnable func;
@@ -98,9 +89,6 @@ public int compareTo(Callback rhs) {
private static final PriorityQueue m_callbacks = new PriorityQueue<>();
- private Method periodicAfterUser0 = null;
-
- private GcStatsCollector gcStatsCollector = new GcStatsCollector();
/** Constructor for TimedRobot. */
protected NAR_Robot() {
@@ -116,38 +104,8 @@ protected NAR_Robot(double period) {
super(period);
m_startTime = Timer.getFPGATimestamp();
- if(logWithAdvantageKit) {
- Method periodicBeforeUser = null; // Method to get the periodicBeforeUser method from Logger
- Method periodicAfterUser = null; // Method to get the periodicAfterUser method from Logger
- try {
- periodicBeforeUser = Logger.class.getDeclaredMethod("periodicBeforeUser");
- periodicAfterUser = Logger.class.getDeclaredMethod("periodicAfterUser", long.class, long.class);
- } catch (NoSuchMethodException | SecurityException e) {
- e.printStackTrace();
- }
- periodicBeforeUser.setAccessible(true); // set the method to be accessible
- periodicAfterUser.setAccessible(true); // set the method to be accessible
-
- Method periodicBeforeUser0 = periodicBeforeUser;
- periodicAfterUser0 = periodicAfterUser;
-
- addPeriodic(() -> {
- try {
- long loopCycleStart = Logger.getRealTimestamp();
- if (logWithAdvantageKit) periodicBeforeUser0.invoke(null);
- long userCodeStart = Logger.getRealTimestamp();
- loopFunc();
- long loopCycleEnd = Logger.getRealTimestamp();
- if (logWithAdvantageKit) gcStatsCollector.update();
- if (logWithAdvantageKit) periodicAfterUser0.invoke(null, loopCycleEnd - userCodeStart, userCodeStart - loopCycleStart);
- } catch (Exception e) {
- }
- }, period);
-
- } else {
- addPeriodic(this::loopFunc, period);
- }
+ addPeriodic(this::loopFunc, period);
NotifierJNI.setNotifierName(m_notifier, "TimedRobot");
@@ -165,7 +123,6 @@ public void close() {
@Override
public void startCompetition() {
long initStart = 0;
- if(logWithAdvantageKit) initStart = Logger.getRealTimestamp();
robotInit();
@@ -174,18 +131,6 @@ public void startCompetition() {
}
long initEnd = 0;
- if(logWithAdvantageKit) initEnd = Logger.getRealTimestamp();
-
- if (logWithAdvantageKit) {
- try {
- Method registerFields = AutoLogOutputManager.class.getDeclaredMethod("registerFields", Object.class);
- registerFields.setAccessible(true);
- registerFields.invoke(null, this);
- periodicAfterUser0.invoke(null, initEnd - initStart, 0);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
// Tell the DS that the robot is ready to be enabled
System.out.println("********** Robot program startup complete **********");
@@ -222,57 +167,6 @@ public void startCompetition() {
}
}
- public static enum LoggingState {
- FULLMATCH,
- SESSION,
- NONE
- }
-
- /**
- * Add a data receiver for Adv Kit logging to a USB drive.
- *
- * @param port true if USB drive is plugged into the top port, false if it is
- * plugged into the bottom port.
- * @param state session logging or full match logging.
- */
- public static void addReceiver(boolean port, LoggingState state) {
- if (state == LoggingState.NONE) {
- return;
- }
-
- String info = "";
- if (state == LoggingState.FULLMATCH) {
- info += DriverStation.getMatchNumber() + "_" +
- DriverStation.getMatchType() + "_" +
- DriverStation.getEventName() + "_";
- }
- info += LocalDateTime.now().getMonthValue() + "_" +
- LocalDateTime.now().getDayOfMonth() + "_" +
- LocalDateTime.now().getYear() + "_T_" +
- LocalDateTime.now().getHour() + "_" +
- LocalDateTime.now().getMinute();
- String folder = "";
- if (state == LoggingState.SESSION) {
- folder = "sessions";
- } else {
- folder = "matches";
- }
-
- if (port) {
- try {
- Logger.addDataReceiver(new WPILOGWriter("/media/sda1/" + folder + "/" + info + ".wpilog"));
- } catch (Exception e) {
- e.printStackTrace();
- }
- } else {
- try {
- Logger.addDataReceiver(new WPILOGWriter("/media/sda2/" + folder + "/" + info + ".wpilog"));
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
-
/** Ends the main loop in startCompetition(). */
@Override
public void endCompetition() {
@@ -312,27 +206,4 @@ public static void addPeriodic(Runnable callback, double periodSeconds) {
public static void addPeriodic(Runnable callback, double periodSeconds, double offsetSeconds) {
m_callbacks.add(new Callback(callback, m_startTime, periodSeconds, offsetSeconds));
}
-
- private static final class GcStatsCollector {
- private List gcBeans = ManagementFactory.getGarbageCollectorMXBeans();
- private final long[] lastTimes = new long[gcBeans.size()];
- private final long[] lastCounts = new long[gcBeans.size()];
-
- public void update() {
- long accumTime = 0;
- long accumCounts = 0;
- for (int i = 0; i < gcBeans.size(); i++) {
- long gcTime = gcBeans.get(i).getCollectionTime();
- long gcCount = gcBeans.get(i).getCollectionCount();
- accumTime += gcTime - lastTimes[i];
- accumCounts += gcCount - lastCounts[i];
-
- lastTimes[i] = gcTime;
- lastCounts[i] = gcCount;
- }
-
- Logger.recordOutput("LoggedRobot/GCTimeMS", (double) accumTime);
- Logger.recordOutput("LoggedRobot/GCCounts", (double) accumCounts);
- }
- }
}
\ No newline at end of file
diff --git a/src/main/java/common/core/swerve/SwerveBase.java b/src/main/java/common/core/swerve/SwerveBase.java
index c94756f..68b8c9c 100644
--- a/src/main/java/common/core/swerve/SwerveBase.java
+++ b/src/main/java/common/core/swerve/SwerveBase.java
@@ -1,7 +1,5 @@
package common.core.swerve;
-import org.littletonrobotics.junction.Logger;
-
import common.core.misc.NAR_Robot;
import common.hardware.motorcontroller.NAR_Motor.Control;
import common.utility.narwhaldashboard.NarwhalDashboard;
@@ -84,7 +82,6 @@ public void drive(ChassisSpeeds velocity) {
twistVel.dtheta / dtConstant);
}
setModuleStates(kinematics.toSwerveModuleStates(velocity));
- Logger.recordOutput("Swerve/DesiredModuleStates", kinematics.toSwerveModuleStates(velocity));
}
/**
@@ -182,10 +179,7 @@ public void setModuleStates(SwerveModuleState[] desiredStates) {
public void periodic() {
odometry.update(getGyroRotation2d(), getPositions());
estimatedPose = odometry.getEstimatedPosition();
- if (NAR_Robot.logWithAdvantageKit) {
- Logger.recordOutput("Swerve/ActualModuleStates", getStates());
- Logger.recordOutput("Swerve/RobotRotation", getGyroRotation2d());
- }
+
}
public void resetAll() {
diff --git a/src/main/java/common/hardware/camera/Camera.java b/src/main/java/common/hardware/camera/Camera.java
index ef332c5..76289ab 100644
--- a/src/main/java/common/hardware/camera/Camera.java
+++ b/src/main/java/common/hardware/camera/Camera.java
@@ -7,7 +7,6 @@
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
-import org.littletonrobotics.junction.Logger;
import org.photonvision.PhotonCamera;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
@@ -111,7 +110,6 @@ public void update() {
if (!result.hasTargets()) {
targets = null;
- if (NAR_Robot.logWithAdvantageKit) Logger.recordOutput("Vision/" + camera.getName(), robotPose.get());
return;
}
diff --git a/src/main/java/common/hardware/motorcontroller/NAR_Motor.java b/src/main/java/common/hardware/motorcontroller/NAR_Motor.java
index 7e75051..e4d915c 100644
--- a/src/main/java/common/hardware/motorcontroller/NAR_Motor.java
+++ b/src/main/java/common/hardware/motorcontroller/NAR_Motor.java
@@ -3,9 +3,6 @@
import java.util.HashSet;
import java.util.LinkedList;
-import org.littletonrobotics.junction.AutoLog;
-import org.littletonrobotics.junction.Logger;
-
import common.core.controllers.PIDFFConfig;
import common.core.misc.NAR_Robot;
import common.utility.narwhaldashboard.NarwhalDashboard;
@@ -89,33 +86,7 @@ public enum Neutral {
protected double unitConversionFactor = 1;
protected double timeConversionFactor = 1;
- @AutoLog
- public static class NAR_MotorIO{
- public double inputPower = 0;
- public double appliedOutput = 0;
- public double stallCurrent = 0;
- public double position;
- public double velocity = 0;
- }
-
- private NAR_MotorIOAutoLogged io;
-
- public void updateIO(NAR_MotorIOAutoLogged io){
- io.inputPower = prevValue;
- io.appliedOutput = getAppliedOutput();
- io.stallCurrent = getStallCurrent();
- io.position = getPosition();
- io.velocity = getVelocity();
- }
-
public NAR_Motor(int id){
- if (NAR_Robot.logWithAdvantageKit) {
- io = new NAR_MotorIOAutoLogged();
- NAR_Robot.addPeriodic(()-> {
- updateIO(io);
- Logger.processInputs("Motors/" + id, io);
- }, 0.02);
- }
}
/**
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
deleted file mode 100644
index d4bf7dd..0000000
--- a/vendordeps/AdvantageKit.json
+++ /dev/null
@@ -1,42 +0,0 @@
-{
- "fileName": "AdvantageKit.json",
- "name": "AdvantageKit",
- "version": "3.2.0",
- "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
- "frcYear": "2024",
- "mavenUrls": [],
- "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
- "javaDependencies": [
- {
- "groupId": "org.littletonrobotics.akit.junction",
- "artifactId": "wpilib-shim",
- "version": "3.2.0"
- },
- {
- "groupId": "org.littletonrobotics.akit.junction",
- "artifactId": "junction-core",
- "version": "3.2.0"
- },
- {
- "groupId": "org.littletonrobotics.akit.conduit",
- "artifactId": "conduit-api",
- "version": "3.2.0"
- }
- ],
- "jniDependencies": [
- {
- "groupId": "org.littletonrobotics.akit.conduit",
- "artifactId": "conduit-wpilibio",
- "version": "3.2.0",
- "skipInvalidPlatforms": false,
- "isJar": false,
- "validPlatforms": [
- "linuxathena",
- "windowsx86-64",
- "linuxx86-64",
- "osxuniversal"
- ]
- }
- ],
- "cppDependencies": []
-}
\ No newline at end of file