Revert "Replaced Doglog with AdvantageKit"

build.gradle

@@ -47,25 +47,6 @@ wpi.java.debugJni = false
 // Set this to true to enable desktop support.
 def includeDesktopSupport = true
 
-
-repositories {
-    maven {
-        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
-        credentials {
-            username = "Mechanical-Advantage-Bot"
-            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
-        }
-    }
-    mavenLocal()
-}
-
-task(replayWatch, type: JavaExec) {
-    mainClass = "org.littletonrobotics.junction.ReplayWatch"
-    classpath = sourceSets.main.runtimeClasspath
-}
-
-
-
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
@@ -89,9 +70,6 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
-
-    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
-    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
 }
 
 test {

src/main/java/frc/robot/Robot.java

@@ -4,42 +4,21 @@
 
 package frc.robot;
 
-
-import org.littletonrobotics.junction.LogFileUtil;
-import org.littletonrobotics.junction.LoggedRobot;
-import org.littletonrobotics.junction.Logger;
-import org.littletonrobotics.junction.networktables.NT4Publisher;
-import org.littletonrobotics.junction.wpilog.WPILOGReader;
-import org.littletonrobotics.junction.wpilog.WPILOGWriter;
-
-import edu.wpi.first.wpilibj.PowerDistribution;
-import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
+import dev.doglog.DogLog;
+import dev.doglog.DogLogOptions;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
-public class Robot extends LoggedRobot {
+public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
   private final RobotContainer m_robotContainer;
 
   public Robot() {
     m_robotContainer = new RobotContainer();
 
-    Logger.recordMetadata("ProjectName", "JavaBot-2025"); // Set a metadata value
-
-    if (isReal()) {
-      Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
-      Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
-      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.
+    DogLog.setOptions(new DogLogOptions().withNtPublish(true));
 
   }
 

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -6,8 +6,6 @@
 import java.util.Optional;
 import java.util.function.Supplier;
 
-import org.littletonrobotics.junction.Logger;
-
 import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.mechanisms.swerve.LegacySwerveRequest;
@@ -24,6 +22,8 @@
 import com.pathplanner.lib.util.DriveFeedforwards;
 import com.pathplanner.lib.util.swerve.SwerveSetpoint;
 import com.pathplanner.lib.util.swerve.SwerveSetpointGenerator;
+
+import dev.doglog.DogLog;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.filter.SlewRateLimiter;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -343,7 +343,6 @@ public Command sysIdDynamic(SysIdRoutine.Direction direction) {
 
     @Override
     public void periodic() {
-
         /*
          * Periodically try to apply the operator perspective.
          * If we haven't applied the operator perspective before, then we should apply it regardless of DS state.
@@ -362,8 +361,8 @@ public void periodic() {
             });
         }
 
-        Logger.recordOutput("Drive/desiredChassisSpeeds", m_applyFieldSpeedsOrbit.getChassisSpeeds());
-        Logger.recordOutput("Drive/setpointChassisSpeeds", m_applyFieldSpeedsOrbit.getPreviousSetpoint().robotRelativeSpeeds());
+        DogLog.log("/Drive/desiredChassisSpeeds", m_applyFieldSpeedsOrbit.getChassisSpeeds());
+        DogLog.log("/Drive/setpointChassisSpeeds", m_applyFieldSpeedsOrbit.getPreviousSetpoint().robotRelativeSpeeds());
     }
 
     private void startSimThread() {

vendordeps/DogLog-2025.0.0.json

@@ -0,0 +1,20 @@
+{
+    "javaDependencies": [
+        {
+            "groupId": "com.github.jonahsnider",
+            "artifactId": "doglog",
+            "version": "2025.0.0"
+        }
+    ],
+    "fileName": "DogLog-2025.0.0.json",
+    "frcYear": "2025",
+    "jsonUrl": "https://doglog.dev/vendordep.json",
+    "name": "DogLog",
+    "jniDependencies": [],
+    "mavenUrls": [
+        "https://jitpack.io"
+    ],
+    "cppDependencies": [],
+    "version": "2025.0.0",
+    "uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
+}