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Cache swerve module CANCoder feedback coefficients

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- Add a proper logging system
This commit is contained in:
nathanrsxtn
2022-01-30 00:39:17 -07:00
parent 7e3af39918
commit bb1c58764e
6 changed files with 136 additions and 8 deletions
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src/main/java/frc4388/robot/Robot.java
+17 -1
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@@ -4,9 +4,11 @@
package frc4388.robot;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -20,6 +22,7 @@ import frc4388.utility.RobotTime;
* project.
*/
public class Robot extends TimedRobot {
private static final Logger LOGGER = Logger.getLogger(Robot.class.getName());
Command m_autonomousCommand;
private RobotTime m_robotTime = RobotTime.getInstance();
@@ -31,6 +34,16 @@ public class Robot extends TimedRobot {
*/
@Override
public void robotInit() {
if (org.fusesource.jansi.Ansi.isEnabled()) {
LOGGER.log(Level.ALL, "Logging Test 1/7");
LOGGER.log(Level.WARNING, "Logging Test 2/7");
LOGGER.log(Level.INFO, "Logging Test 3/7");
LOGGER.log(Level.CONFIG, "Logging Test 4/7");
LOGGER.log(Level.FINE, "Logging Test 5/7");
LOGGER.log(Level.FINER, "Logging Test 6/7");
LOGGER.log(Level.FINEST, "Logging Test 7/7");
}
LOGGER.fine("robotInit()");
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
@@ -64,6 +77,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void disabledInit() {
LOGGER.fine("disabledInit()");
m_robotTime.endMatchTime();
}
@@ -79,6 +93,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void autonomousInit() {
LOGGER.fine("autonomousInit()");
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
/*String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
@@ -108,6 +123,7 @@ public class Robot extends TimedRobot {
@Override
public void teleopInit() {
LOGGER.fine("teleopInit()");
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove