everything seems fine--> talon reconfigured + sysid and logging now s…

…upported
SciBorgs · Dec 5, 2024 · a751d56 · a751d56
1 parent ebb7505
commit a751d56
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Showing 3 changed files with 29 additions and 8 deletions.
diff --git a/simgui-ds.json b/simgui-ds.json
@@ -9,11 +9,6 @@
       "visible": true
     }
   },
-  "System Joysticks": {
-    "window": {
-      "visible": false
-    }
-  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -106,9 +101,15 @@
     }
   ],
   "robotJoysticks": [
-    {},
+    {
+      "guid": "Keyboard1"
+    },
     {
       "guid": "Keyboard0"
+    },
+    {},
+    {
+      "guid": "Keyboard2"
     }
   ]
 }
diff --git a/src/main/java/org/sciborgs1155/robot/Robot.java b/src/main/java/org/sciborgs1155/robot/Robot.java
@@ -9,6 +9,7 @@
 import static org.sciborgs1155.robot.Constants.PERIOD;
 import static org.sciborgs1155.robot.drive.DriveConstants.*;
 
+import com.ctre.phoenix6.SignalLogger;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
@@ -60,6 +61,12 @@ public Robot() {
     super(PERIOD.in(Seconds));
     configureGameBehavior();
     configureBindings();
+    configureLog();
+  }
+
+  private void configureLog() {
+    SignalLogger.setPath("./logs/");
+    SignalLogger.enableAutoLogging(true);
   }
 
   /** Configures basic behavior for different periods during the game. */
@@ -138,6 +145,10 @@ private void configureBindings() {
         .onFalse(Commands.runOnce(() -> speedMultiplier = Constants.FULL_SPEED_MULTIPLIER));
 
     // TODO: Add any additional bindings.
+    operator
+        .a()
+        .onTrue(Commands.runOnce(SignalLogger::start))
+        .onFalse(Commands.runOnce(SignalLogger::stop));
   }
 
   /**

diff --git a/src/main/java/org/sciborgs1155/robot/drive/Drive.java b/src/main/java/org/sciborgs1155/robot/drive/Drive.java
@@ -11,6 +11,7 @@
 import static org.sciborgs1155.robot.Ports.Drive.*;
 import static org.sciborgs1155.robot.drive.DriveConstants.*;
 
+import com.ctre.phoenix6.SignalLogger;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.Vector;
 import edu.wpi.first.math.controller.PIDController;
@@ -149,7 +150,11 @@ public Drive(
 
     translationCharacterization =
         new SysIdRoutine(
-            new SysIdRoutine.Config(),
+            new SysIdRoutine.Config(
+                null,
+                Volts.of(4),
+                null,
+                (state) -> SignalLogger.writeString("translation state", state.toString())),
             new SysIdRoutine.Mechanism(
                 volts ->
                     modules.forEach(
@@ -159,7 +164,11 @@ public Drive(
                 "translation"));
     rotationalCharacterization =
         new SysIdRoutine(
-            new SysIdRoutine.Config(),
+            new SysIdRoutine.Config(
+                null,
+                Volts.of(4),
+                null,
+                (state) -> SignalLogger.writeString("rotation state", state.toString())),
             new SysIdRoutine.Mechanism(
                 volts -> {
                   this.frontLeft.updateInputs(