log pose with AdvKit

src/main/java/frc/robot/subsystems/drive/DriveIO.java

@@ -0,0 +1,26 @@
+package frc.robot.subsystems.drive;
+
+import org.littletonrobotics.junction.AutoLog;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import swervelib.SwerveDrive;
+
+public class DriveIO {
+    @AutoLog
+    public static class DriveIOInputs {
+        public Pose2d pose;
+        public double poseX = 0.0;
+        public double poseY = 0.0;
+        public double poseRotInDegrees = 0.0;
+    }
+
+    /** Updates the set of loggable inputs. */
+    public void updateInputs(DriveIOInputs inputs, SwerveDrive swerveDrive) {
+        inputs.pose = swerveDrive.getPose();
+        inputs.poseX = inputs.pose.getTranslation().getX();
+        inputs.poseY = inputs.pose.getTranslation().getY();
+        inputs.poseRotInDegrees = inputs.pose.getRotation().getDegrees();
+      }
+
+    // Other methods for controlling the drive subsystem...
+}

src/main/java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java

@@ -14,6 +14,8 @@
 import frc.robot.util.DevilBotState;
 import java.io.File;
 import org.littletonrobotics.junction.AutoLogOutput;
+import org.littletonrobotics.junction.Logger;
+
 import swervelib.SwerveDrive;
 import swervelib.SwerveDriveTest;
 import swervelib.parser.PIDFConfig;
@@ -25,6 +27,12 @@ public class DriveSwerveYAGSL extends DriveBase {
   private SwerveDrive swerveDrive;
   @AutoLogOutput private boolean fieldOrientedDrive = false;
 
+  // @AutoLogOutput 
+  DriveIO io = new DriveIO();
+  private final DriveIOInputsAutoLogged inputs = new DriveIOInputsAutoLogged();
+
+
+
   public DriveSwerveYAGSL(String configPath) {
     swerveJsonDirectory = new File(Filesystem.getDeployDirectory(), configPath);
 
@@ -144,4 +152,10 @@ public double getAngle() {
   public void lockPose() {
     swerveDrive.lockPose();
   }
+
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs, swerveDrive);
+    Logger.processInputs("Drive", inputs);
+  }
 }