luh calm commit

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

@@ -19,12 +19,10 @@
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.util.Constants.AutoConstants;
 import frc.robot.util.Constants.DriveConstants;
-import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.Constants.NeoMotorConstants;
 import frc.robot.util.Constants.LoggingConstants;
 import frc.robot.util.rev.Neo;
 import frc.robot.util.rev.NeoPhysicsSim;
-import monologue.Monologue;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -99,27 +97,19 @@ public void robotInit() {
      * and
      * SmartDashboard integrated updating.
      */
-    private boolean updatedAlready = false;
-    private boolean updateTimer = false;
     private boolean startedURCL = false;
 
     @Override
     public void robotPeriodic() {
         // Set the previous to the current timestamp before it updates
         Robot.previousTimestamp = Robot.currentTimestamp;
         Robot.currentTimestamp = Timer.getFPGATimestamp();
-        if (gameMode != GameMode.DISABLED) {
-            Monologue.updateAll();
-        }
-        else {
-            updateTimer = (int) (Robot.currentTimestamp / 10) % 2 == 0;
-            if (updateTimer && !updatedAlready) {
-                updatedAlready = true;
-                Monologue.updateAll();
-            } else if (!updateTimer) {
-                updatedAlready = false;
-            }
-        }
+
+        RobotContainer.displayTime = 
+            DriverStation.isFMSAttached()
+                ? Timer.getMatchTime() // Display time left in current match mode (auto/teleop)
+                : Robot.currentTimestamp - RobotContainer.gameModeStart; // Display time since mode start
+
         CommandScheduler.getInstance().run();
     }
 
@@ -143,13 +133,10 @@ public void disabledExit() {
         // Shut off NetworkTables broadcasting for most logging calls
         // if we are at competition
         RobotContainer.gameModeStart = currentTimestamp;
-        // Monologue.setFileOnly(DriverStation.isFMSAttached());
     }
 
     @Override   
     public void autonomousInit() {
-        // Update "constants"
-        Monologue.updateAll();
         if (!startedURCL) {
             URCL.start(NeoMotorConstants.CAN_ID_MAP);
             startedURCL = true;

src/main/java/frc/robot/RobotContainer.java

@@ -138,6 +138,10 @@ public class RobotContainer {
     public static boolean enableVision = true;
     @AutoLogOutput (key  ="Draggables/Limelight3GTA")
     public static double limelightTA = 0.0;
+    @AutoLogOutput (key = "Draggables/Timer")
+    public static double displayTime = 0.0;
+    @AutoLogOutput (key = "Draggables/Voltage")
+    public static double voltage = 0.0;
 
     public static Field2d field2d = new Field2d();
 

src/main/java/frc/robot/commands/drive/AlignmentCmds.java

@@ -17,17 +17,15 @@
 import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.calc.AlignmentCalc;
 import frc.robot.util.calc.PoseCalculations;
-import monologue.Annotations.IgnoreLogged;
 
 public class AlignmentCmds {
-
-    @IgnoreLogged
+
     private Climb climb;
-    @IgnoreLogged
+
     private Swerve swerve;
 
     private ShooterCmds shooterCmds;
-    @IgnoreLogged
+
     public AlignmentCalc alignmentCalc;
 
     public AlignmentCmds(Swerve swerve, Climb climb, ShooterCmds shooterCmds) {

src/main/java/frc/robot/commands/managers/ShooterCmds.java

@@ -18,13 +18,11 @@
 import frc.robot.util.Constants.ShooterConstants;
 import frc.robot.util.calc.ShooterCalc;
 import frc.robot.util.custom.SpeedAngleTriplet;
-import monologue.Annotations.IgnoreLogged;
 
 public class ShooterCmds {
 
-    @IgnoreLogged
     private Pivot pivot;
-    @IgnoreLogged
+
     private Shooter shooter;
 
     private SpeedAngleTriplet desiredTriplet = new SpeedAngleTriplet();

src/main/java/frc/robot/subsystems/ampper/Ampper.java

@@ -8,7 +8,6 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.util.Constants.ElevatorConstants;
 import frc.robot.util.rev.Neo;
-import monologue.Logged;
 
 public class Ampper extends SubsystemBase implements AmpperIO {
     private final Neo motor;

src/main/java/frc/robot/util/calc/AlignmentCalc.java

@@ -15,11 +15,9 @@
 import frc.robot.util.Constants.AutoConstants;
 import frc.robot.util.Constants.DriveConstants;
 import frc.robot.util.Constants.FieldConstants;
-import monologue.Annotations.IgnoreLogged;
 
 public class AlignmentCalc {
 
-    @IgnoreLogged
     private Swerve swerve;
 
     public AlignmentCalc(Swerve swerve) {

src/main/java/frc/robot/util/calc/LimelightConversion.java

@@ -12,8 +12,6 @@
 import edu.wpi.first.math.numbers.N4;
 import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.custom.Scale3d;
-import monologue.Logged;
-import monologue.Annotations.Log;
 
 import java.util.HashMap;