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better !!! #198

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Feb 25, 2024
Merged

better !!! #198

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50 changes: 41 additions & 9 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -43,8 +43,10 @@
import frc.robot.util.motors.Neo;
import frc.robot.util.testing.CalibrationControl;
import frc.robot.util.testing.HDCTuner;
import monologue.Annotations.IgnoreLogged;
import monologue.Annotations.Log;
import monologue.Logged;
import monologue.Monologue;

public class RobotContainer implements Logged {

Expand All @@ -53,25 +55,37 @@ public class RobotContainer implements Logged {
private final PatriBoxController driver;
private final PatriBoxController operator;

@IgnoreLogged
private Swerve swerve;
@IgnoreLogged
private final Intake intake;

@IgnoreLogged
private Limelight limelight;
private final LedStrip ledStrip;
@IgnoreLogged
private final Climb climb;
private Indexer triggerWheel;
@IgnoreLogged
private Pivot pivot;
@IgnoreLogged
private Shooter shooter;
private Trapper trapper;
@IgnoreLogged
private Elevator elevator;
private ShooterCmds shooterCmds;

@IgnoreLogged
private CalibrationControl calibrationControl;
@IgnoreLogged
private PathPlannerStorage pathPlannerStorage;
@IgnoreLogged
private ShooterCalc shooterCalc;
@IgnoreLogged
public static HDCTuner HDCTuner;

private final LedStrip ledStrip;
private Indexer triggerWheel;
private Trapper trapper;
private ShooterCmds shooterCmds;

private PieceControl pieceControl;
private PathPlannerStorage pathPlannerStorage;
private CalibrationControl calibrationControl;
private AlignmentCmds alignmentCmds;

public static HDCTuner HDCTuner;

@Log
public static Pose3d[] components3d = new Pose3d[5];
Expand Down Expand Up @@ -144,6 +158,7 @@ public RobotContainer() {
pathPlannerStorage.configureAutoChooser();

configureButtonBindings();
configureLoggingPaths();
}

private void configureButtonBindings() {
Expand Down Expand Up @@ -432,6 +447,23 @@ private void registerPathToPathCommands() {
}
}

private void configureLoggingPaths() {
Monologue.logObj(shooterCalc, "/Robot/maths/shooterCalc");
Monologue.logObj(calibrationControl, "/Robot/maths/calibrationControl");
Monologue.logObj(HDCTuner, "/Robot/maths/HDCTuner");

Monologue.logObj(swerve, "/Robot/swerve");

Monologue.logObj(intake, "/Robot/subsystems/intake");
Monologue.logObj(climb, "/Robot/subsystems/climb");
Monologue.logObj(limelight, "/Robot/subsystems/limelight");
Monologue.logObj(shooter, "/Robot/subsystems/shooter");
Monologue.logObj(elevator, "/Robot/subsystems/elevator");
Monologue.logObj(pivot, "/Robot/subsystems/pivot");

Monologue.logObj(pathPlannerStorage, "/Robot/autuwu/auto/pathPlannerStorage");
}

/**
* This is explained in detail in discussion #180 of the 2024 repository of 4738
*/
Expand Down
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