logging: persist AdvantageKit stream to disk with WPILOGWriter - #7
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logging: persist AdvantageKit stream to disk with WPILOGWriter#7AdamEXu wants to merge 1 commit into
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Until now the only AdvantageKit data receiver was NT4Publisher, so all telemetry (swerve states, odometry, mechanisms) was streamed live to AdvantageScope and never written anywhere — no .wpilog files exist from the entire 2026 season. Add WPILOGWriter so real-robot runs log to /U/logs on a USB stick (logs/ folder in simulation). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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What
Adds
WPILOGWriteras a second AdvantageKit data receiver inRobot.java(2 lines + comment). Real-robot runs now write the full AdvantageKit stream to/U/logson a USB stick (falls back to roboRIO storage without one); simulation writes to a locallogs/folder.Why
The only receiver was
NT4Publisher, so everyLogger.recordOutput— swerve module states, odometry/pose, turret/shooter/intake/climber, vision — was streamed live to AdvantageScope and never persisted. We have zero.wpilogfiles from the entire 2026 season; the only surviving telemetry is REVLib's auto-written.revlogCAN logs, which carry no drivetrain or pose data. This one-liner is what was missing.Notes
WPILOGWriter+NT4PublisherbeforeLogger.start()); no-arg constructor verified against akit-java-26.0.0.SignalLoggerintentionally not enabled: WPILOGWriter covers everythingrecordOutputproduces, and hoot logging risks filling RIO flash when no USB is present../gradlew compileJavaBUILD SUCCESSFUL./U/logs(seePWRDrive/docs/swerve_log_collection.mdfor the full collection protocol).🤖 Generated with Claude Code