Fix AdvantageKit Logging, LoggedSendableChooser

Fixed AdvantageKit logging by removing invalid log replay code. Replaced standard sendableChooser with loggedSendableChooser
FRC2539 · Dec 12, 2024 · 4ae66ea · 4ae66ea
1 parent f798c4e
commit 4ae66ea
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Showing 2 changed files with 8 additions and 12 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -34,9 +34,6 @@ public Robot() {
       PowerDistribution distribution = new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
     } else {
       setUseTiming(false); // Run as fast as possible
-      String logPath = LogFileUtil.findReplayLog(); // Pull the replay log from AdvantageScope (or prompt the user)
-      Logger.setReplaySource(new WPILOGReader(logPath)); // Read replay log
-      Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim"))); // Save outputs to a new log
     }
 
     Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may be added.

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -6,15 +6,14 @@
 
 import static edu.wpi.first.units.Units.*;
 
-import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
+
+
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.ctre.phoenix6.swerve.SwerveRequest;
-
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
 import frc.lib.controller.LogitechController;
@@ -39,7 +38,7 @@ public class RobotContainer {
 
     public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
 
-    private SendableChooser<Command> autoChooser = new SendableChooser<Command>();
+    private final LoggedDashboardChooser<Command> autoChooser;
 
     // Use open-loop control for drive motors
     private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
@@ -49,8 +48,8 @@ public RobotContainer() {
         configureBindings();
 
         drivetrain.setUpPathPlanner();
-        autoChooser = AutoBuilder.buildAutoChooser();
-        SmartDashboard.putData("Auto Chooser", autoChooser);
+        autoChooser = new LoggedDashboardChooser<>("Auto Routine", AutoBuilder.buildAutoChooser());
+
     }
 
     private void configureBindings() {
@@ -61,7 +60,7 @@ private void configureBindings() {
             drivetrain.applyRequest(
                 () -> {
                     ChassisSpeeds driverDesiredSpeeds = new ChassisSpeeds(
-                        sps(deadband(leftDriveController.getYAxis().get(), .1)) * GlobalConstants.MAX_TRANSLATIONAL_SPEED,
+                        sps(deadband(leftDriveController.getYAxis().get(), 0.1)) * GlobalConstants.MAX_TRANSLATIONAL_SPEED,
                         -sps(deadband(leftDriveController.getXAxis().get(),0.1)) * GlobalConstants.MAX_TRANSLATIONAL_SPEED,
                         -sps(deadband(rightDriveController.getXAxis().get(),0.1)) * GlobalConstants.MAX_ROTATIONAL_SPEED
                     );
@@ -108,7 +107,7 @@ private double sps(double value) {
 
     public Command getAutonomousCommand() {
 
-        return autoChooser.getSelected();
+        return autoChooser.get();
 
     }
 }