akit to main (#299)

this pr is so absurdly far out of scope i think its about time we take him behind the barn

.gitignore

@@ -1,6 +1,8 @@
 # This gitignore has been specially created by the WPILib team.
 # If you remove items from this file, intellisense might break.
 
+BuildConstants.java
+
 ### C++ ###
 # Prerequisites
 *.d

build.gradle

@@ -1,6 +1,7 @@
 plugins {
     id "java"
     id "edu.wpi.first.GradleRIO" version "2024.3.2"
+    id "com.peterabeles.gversion" version "1.10"
 }
 
 repositories {
@@ -17,6 +18,7 @@ def ROBOT_MAIN_CLASS = "frc.robot.Main"
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
+
     targets {
         roborio(getTargetTypeClass('RoboRIO')) {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
@@ -72,6 +74,9 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     implementation 'com.github.shueja:Monologue:v1.0.0-beta6'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {
@@ -102,3 +107,34 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+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()
+}
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.CheckInstall"
+    classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+  srcDir       = "src/main/java/"
+  classPackage = "frc.robot"
+  className    = "BuildConstants"
+  dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+  timeZone     = "America/Los_Angeles" // Use preferred time zone
+  indent       = "  "
+}

src/main/deploy/pathplanner/paths/S W3 New.path

@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 2.4787036360186945,
-        "y": 4.168998797124134
+        "x": 2.4553382440098215,
+        "y": 4.4758132069455625
       },
       "prevControl": {
-        "x": 2.317048184821597,
-        "y": 3.8636496115296164
+        "x": 2.293682792812724,
+        "y": 4.170464021351045
       },
       "nextControl": {
-        "x": 2.602808341115003,
-        "y": 4.403418795639383
+        "x": 2.57944294910613,
+        "y": 4.710233205460812
       },
       "isLocked": false,
       "linkedName": "W3 Pickup"

src/main/deploy/pathplanner/paths/S W3-1 Bayou.path

@@ -16,32 +16,32 @@
     },
     {
       "anchor": {
-        "x": 2.4787036360186945,
-        "y": 4.168998797124134
+        "x": 2.4553382440098215,
+        "y": 4.4758132069455625
       },
       "prevControl": {
-        "x": 2.2313539056437075,
-        "y": 3.9274690604050284
+        "x": 2.2079885136348345,
+        "y": 4.2342834702264565
       },
       "nextControl": {
-        "x": 2.8694036335441093,
-        "y": 4.5505058535313045
+        "x": 2.8460382415352363,
+        "y": 4.857320263352733
       },
       "isLocked": false,
       "linkedName": "W3 Pickup"
     },
     {
       "anchor": {
-        "x": 2.377581283717999,
-        "y": 5.35
+        "x": 2.0113957958412367,
+        "y": 5.378253593386619
       },
       "prevControl": {
-        "x": 1.5110766903129929,
-        "y": 5.274190671183922
+        "x": 1.145914832282723,
+        "y": 5.291535853302232
       },
       "nextControl": {
-        "x": 3.051687332769572,
-        "y": 5.408976637306263
+        "x": 3.1606075951005406,
+        "y": 5.4934000313860505
       },
       "isLocked": false,
       "linkedName": null
@@ -63,17 +63,17 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.7,
-      "rotationDegrees": 146.64239816427872,
+      "rotationDegrees": 158.25924699388764,
       "rotateFast": false
     },
     {
       "waypointRelativePos": 1.7999999999999998,
-      "rotationDegrees": -177.54423533374379,
+      "rotationDegrees": 170.6683195762387,
       "rotateFast": false
     },
     {
       "waypointRelativePos": 2.55,
-      "rotationDegrees": -159.93962834871448,
+      "rotationDegrees": -146.99446263627644,
       "rotateFast": false
     }
   ],
@@ -95,7 +95,7 @@
       "maxWaypointRelativePos": 0.5499999999999999,
       "constraints": {
         "maxVelocity": 5.0,
-        "maxAcceleration": 3.0,
+        "maxAcceleration": 2.7,
         "maxAngularVelocity": 1137.21,
         "maxAngularAcceleration": 1492.9
       }
@@ -150,7 +150,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -149.36,
+    "rotation": -156.9427737708922,
     "rotateFast": false
   },
   "reversed": false,

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

@@ -2,19 +2,26 @@
 
 import java.util.Optional;
 
+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 org.littletonrobotics.urcl.URCL;
 
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 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;
@@ -28,7 +35,7 @@
  * build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
 
     private static Optional<Alliance> alliance = Optional.empty();
     public static GameMode gameMode = GameMode.DISABLED;
@@ -48,8 +55,33 @@ public static enum GameMode {
 
     @Override
     public void robotInit() {
+
+        // Git metadata for tracking version for AKit
+        Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
+        Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
+        Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+        Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
+        Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
+
+        switch (LoggingConstants.getMode()) {
+            case REAL:
+                Logger.addDataReceiver(new WPILOGWriter("/media/sda1/logs")); // Log to a USB stick ("/U/logs")
+                Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+                break;
+            case REPLAY:
+                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
+                    break;
+            case SIM:
+                Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
+                break;
+        }
+
+        Logger.start(); 
+
         robotContainer = new RobotContainer();
-        Monologue.setupMonologue(robotContainer, "Robot/Draggables", false, true);
 
         DataLogManager.start();
         DataLogManager.logNetworkTables(true);