Custom logger

src/main/kotlin/com/team4099/robot2023/Robot.kt

@@ -8,7 +8,7 @@ import com.team4099.robot2023.config.constants.Constants
 import com.team4099.robot2023.subsystems.falconspin.MotorChecker
 import com.team4099.robot2023.util.Alert
 import com.team4099.robot2023.util.Alert.AlertType
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.FMSData
 import com.team4099.robot2023.util.NTSafePublisher
 import edu.wpi.first.hal.AllianceStationID
@@ -197,7 +197,7 @@ object Robot : LoggedRobot() {
       "LoggedRobot/RemainingRamMB", Runtime.getRuntime().freeMemory() / 1024 / 1024
     )
 
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "LoggedRobot/totalMS", (Clock.realTimestamp - startTime).inMilliseconds
     )
 

src/main/kotlin/com/team4099/robot2023/commands/DriveModuleSteeringCommand.kt

@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest
 
@@ -20,6 +20,6 @@ class DriveModuleSteeringCommand(val drivetrain: Drivetrain) : Command() {
   }
 
   override fun execute() {
-    DebugLogger.recordDebugOutput("ActiveCommands/ZeroSensorsCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/ZeroSensorsCommand", true)
   }
 }

src/main/kotlin/com/team4099/robot2023/commands/SysIdCommand.kt

@@ -1,6 +1,6 @@
 package com.team4099.robot2023.commands
 
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj.Timer
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
 import edu.wpi.first.wpilibj2.command.Command
@@ -108,7 +108,7 @@ class SysIdCommand : Command {
       data += (subsystemData.velRadPerSec / (2 * Math.PI)).toString() + ","
     }
 
-    DebugLogger.recordDebugOutput("ActiveCommands/SysIdCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/SysIdCommand", true)
   }
 
   // Called once the command ends or is interrupted.

src/main/kotlin/com/team4099/robot2023/commands/characterization/WheelRadiusCharacterizationCommand.kt

@@ -9,7 +9,7 @@ import com.team4099.lib.logging.LoggedTunableNumber
 import com.team4099.robot2023.config.constants.DrivetrainConstants
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.math.MathUtil
 import edu.wpi.first.math.filter.SlewRateLimiter
 import edu.wpi.first.math.kinematics.ChassisSpeeds
@@ -22,7 +22,6 @@ import org.team4099.lib.units.derived.inRadians
 import org.team4099.lib.units.derived.radians
 import org.team4099.lib.units.derived.rotations
 import kotlin.math.hypot
-import kotlin.time.times
 
 class WheelRadiusCharacterizationCommand(
   val drivetrain: Drivetrain,
@@ -84,29 +83,29 @@ class WheelRadiusCharacterizationCommand(
     averageWheelPositionDelta /= 4.0
     currentEffectiveWheelRadius =
       (accumGyroYawRads * driveRadius / averageWheelPositionDelta).meters
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Drivetrain/RadiusCharacterization/DrivePosition", averageWheelPositionDelta.inRadians
     )
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Drivetrain/RadiusCharacterization/AccumGyroYawRads", accumGyroYawRads.inRadians
     )
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Drivetrain/RadiusCharacterization/LastGyroYawRads", lastGyroYawRads.inRadians
     )
-    DebugLogger.recordDebugOutput(
+    CustomLogger.recordDebugOutput(
       "Drivetrain/RadiusCharacterization/CurrentWheelRadiusInches",
       currentEffectiveWheelRadius.inInches
     )
   }
 
   override fun end(interrupted: Boolean) {
     if (accumGyroYawRads <= (Math.PI * 2.0).radians) {
-      DebugLogger.recordDebugOutput(
+      CustomLogger.recordDebugOutput(
         "Drivetrain/radiansOffFromWheelRadius",
         ((Math.PI * 2.0).radians - accumGyroYawRads).inRadians
       )
     } else {
-      DebugLogger.recordDebugOutput(
+      CustomLogger.recordDebugOutput(
         "Drivetrain/effectiveWheelRadius", currentEffectiveWheelRadius.inInches
       )
     }

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/DrivePathCommand.kt

@@ -11,7 +11,7 @@ import com.team4099.lib.trajectory.Waypoint
 import com.team4099.robot2023.config.constants.DrivetrainConstants
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.util.AllianceFlipUtil
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.FrameType
 import com.team4099.robot2023.util.Velocity2d
 import edu.wpi.first.math.kinematics.ChassisSpeeds
@@ -384,7 +384,7 @@ private constructor(
     Logger.recordOutput("Pathfollow/isAtReference", swerveDriveController.atReference())
     Logger.recordOutput("Pathfollow/trajectoryTimeSeconds", trajectory.totalTimeSeconds)
 
-    DebugLogger.recordDebugOutput("ActiveCommands/DrivePathCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/DrivePathCommand", true)
 
     if (thetakP.hasChanged()) thetaPID.proportionalGain = thetakP.get()
     if (thetakI.hasChanged()) thetaPID.integralGain = thetakI.get()
@@ -414,7 +414,7 @@ private constructor(
   }
 
   override fun end(interrupted: Boolean) {
-    DebugLogger.recordDebugOutput("ActiveCommands/DrivePathCommand", false)
+    CustomLogger.recordDebugOutput("ActiveCommands/DrivePathCommand", false)
     if (interrupted) {
       DriverStation.reportError(errorString, true)
       // Stop where we are if interrupted

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetGyroYawCommand.kt

@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import org.team4099.lib.units.derived.Angle
 import org.team4099.lib.units.derived.degrees
@@ -17,7 +17,7 @@ class ResetGyroYawCommand(val drivetrain: Drivetrain, val toAngle: Angle = 0.0.d
   }
 
   override fun execute() {
-    DebugLogger.recordDebugOutput("ActiveCommands/ResetGyroYawCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/ResetGyroYawCommand", true)
   }
 
   override fun isFinished(): Boolean {

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetPoseCommand.kt

@@ -2,7 +2,7 @@ package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.util.AllianceFlipUtil
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import org.team4099.lib.geometry.Pose2d
 
@@ -14,12 +14,12 @@ class ResetPoseCommand(val drivetrain: Drivetrain, val pose: Pose2d) : Command()
   override fun initialize() {
     drivetrain.resetFieldFrameEstimator(AllianceFlipUtil.apply(pose))
     drivetrain.zeroGyroYaw(AllianceFlipUtil.apply(pose).rotation)
-    DebugLogger.recordDebugOutput("Drivetrain/lastResetPose", AllianceFlipUtil.apply(pose).pose2d)
-    DebugLogger.recordDebugOutput("ActiveCommands/ResetPoseCommand", true)
+    CustomLogger.recordDebugOutput("Drivetrain/lastResetPose", AllianceFlipUtil.apply(pose).pose2d)
+    CustomLogger.recordDebugOutput("ActiveCommands/ResetPoseCommand", true)
   }
 
   override fun isFinished(): Boolean {
-    DebugLogger.recordDebugOutput("ActiveCommands/ResetPoseCommand", false)
+    CustomLogger.recordDebugOutput("ActiveCommands/ResetPoseCommand", false)
     return true
   }
 }

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ResetZeroCommand.kt

@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 
 class ResetZeroCommand(val drivetrain: Drivetrain) : Command() {
@@ -14,6 +14,6 @@ class ResetZeroCommand(val drivetrain: Drivetrain) : Command() {
   }
 
   override fun execute() {
-    DebugLogger.recordDebugOutput("ActiveCommands/ResetZeroCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/ResetZeroCommand", true)
   }
 }

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetAngleCommand.kt

@@ -4,7 +4,7 @@ import com.team4099.lib.logging.LoggedTunableValue
 import com.team4099.robot2023.config.constants.DrivetrainConstants
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.driver.DriverProfile
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj2.command.Command
@@ -109,14 +109,14 @@ class TargetAngleCommand(
   override fun execute() {
 
     drivetrain.defaultCommand.end(true)
-    DebugLogger.recordDebugOutput("ActiveCommands/TargetAngleCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/TargetAngleCommand", true)
     Logger.recordOutput(
       "Testing/CurrentDrivetrainRotation", drivetrain.odomTRobot.rotation.inDegrees
     )
 
     val thetaFeedback = thetaPID.calculate(drivetrain.odomTRobot.rotation, targetAngle())
-    DebugLogger.recordDebugOutput("Testing/error", thetaPID.error.inDegrees)
-    DebugLogger.recordDebugOutput("Testing/thetaFeedback", thetaFeedback.inDegreesPerSecond)
+    CustomLogger.recordDebugOutput("Testing/error", thetaPID.error.inDegrees)
+    CustomLogger.recordDebugOutput("Testing/thetaFeedback", thetaFeedback.inDegreesPerSecond)
 
     drivetrain.currentRequest =
       Request.DrivetrainRequest.OpenLoop(
@@ -131,7 +131,7 @@ class TargetAngleCommand(
   }
 
   override fun end(interrupted: Boolean) {
-    DebugLogger.recordDebugOutput("ActiveCommands/TargetAngleCommand", false)
+    CustomLogger.recordDebugOutput("ActiveCommands/TargetAngleCommand", false)
     drivetrain.currentRequest =
       Request.DrivetrainRequest.OpenLoop(
         driver.rotationSpeedClampedSupplier(turn, slowMode),

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TargetNoteCommand.kt

@@ -6,7 +6,7 @@ import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.feeder.Feeder
 import com.team4099.robot2023.subsystems.limelight.LimelightVision
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.driver.DriverProfile
 import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj.RobotBase
@@ -120,8 +120,8 @@ class TargetNoteCommand(
     Logger.recordOutput("ActiveCommands/TargetNoteCommand", true)
 
     val thetaFeedback = thetaPID.calculate(limelight.targetGamePieceTx ?: 0.0.degrees, 0.0.degrees)
-    DebugLogger.recordDebugOutput("NoteAlignment/error", thetaPID.error.inDegrees)
-    DebugLogger.recordDebugOutput("NoteAlignment/thetaFeedback", thetaFeedback.inDegreesPerSecond)
+    CustomLogger.recordDebugOutput("NoteAlignment/error", thetaPID.error.inDegrees)
+    CustomLogger.recordDebugOutput("NoteAlignment/thetaFeedback", thetaFeedback.inDegreesPerSecond)
 
     if (!feeder.hasNote && limelight.inputs.gamePieceTargets.size > 0) {
       val driveVector = driver.driveSpeedClampedSupplier(driveX, driveY, slowMode)

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TeleopDriveCommand.kt

@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import com.team4099.robot2023.util.driver.DriverProfile
 import edu.wpi.first.wpilibj.DriverStation
 import edu.wpi.first.wpilibj2.command.Command
@@ -28,14 +28,14 @@ class TeleopDriveCommand(
       val rotation = driver.rotationSpeedClampedSupplier(turn, slowMode)
 
       drivetrain.currentRequest = DrivetrainRequest.OpenLoop(rotation, speed)
-      DebugLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", true)
+      CustomLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", true)
     }
   }
   override fun isFinished(): Boolean {
     return false
   }
 
   override fun end(interrupted: Boolean) {
-    DebugLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", false)
+    CustomLogger.recordDebugOutput("ActiveCommands/TeleopDriveCommand", false)
   }
 }

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/TestDriveCommand.kt

@@ -2,7 +2,7 @@ package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
 import com.team4099.robot2023.subsystems.superstructure.Request
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.math.kinematics.ChassisSpeeds
 import edu.wpi.first.wpilibj2.command.Command
 import org.team4099.lib.units.derived.inRotation2ds
@@ -16,7 +16,7 @@ class TestDriveCommand(val drivetrain: Drivetrain) : Command() {
           4.0, 0.0, 0.0, drivetrain.odomTRobot.rotation.inRotation2ds
         )
       )
-    DebugLogger.recordDebugOutput("ActiveCommands/TestDriveCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/TestDriveCommand", true)
   }
 
   override fun isFinished(): Boolean {

src/main/kotlin/com/team4099/robot2023/commands/drivetrain/ZeroSensorsCommand.kt

@@ -1,7 +1,7 @@
 package com.team4099.robot2023.commands.drivetrain
 
 import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain
-import com.team4099.robot2023.util.DebugLogger
+import com.team4099.robot2023.util.CustomLogger
 import edu.wpi.first.wpilibj2.command.Command
 import com.team4099.robot2023.subsystems.superstructure.Request.DrivetrainRequest as DrivetrainRequest
 
@@ -20,6 +20,6 @@ class ZeroSensorsCommand(val drivetrain: Drivetrain) : Command() {
   }
 
   override fun execute() {
-    DebugLogger.recordDebugOutput("ActiveCommands/ZeroSensorsCommand", true)
+    CustomLogger.recordDebugOutput("ActiveCommands/ZeroSensorsCommand", true)
   }
 }