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Add logging support for Gyro #12

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Add logging support for Gyro #12

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43 changes: 43 additions & 0 deletions src/main/java/frc/robot/subsystems/GyroSubsystem.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,43 @@
package frc.robot.subsystems;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.utils.logging.io.gyro.GyroIo;
import frc.robot.utils.logging.io.gyro.MockGyroIo;
import frc.robot.utils.logging.io.gyro.RealGyroIo;
import frc.robot.utils.simulation.RobotVisualizer;

public class GyroSubsystem extends SubsystemBase {
private final GyroIo io;

public GyroSubsystem(GyroIo io) {
this.io = io;
}

public void setAngleOffset(double offset) {
io.setAngleOffset(offset);
}

public void resetGyro() {
io.resetGyro();
}

@Override
public void periodic() {
io.periodic();
}

public static GyroIo createMockIo() {
return new MockGyroIo();
}

public static GyroIo createRealIo() {
RealGyroIo realGyroIo = new RealGyroIo();
realGyroIo.start();
return realGyroIo;
}

public static GyroIo createSimIo(RobotVisualizer visualizer) {
// For now, we don't actually simulate the gyro
return new MockGyroIo();
}
}
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/RollerSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ public void periodic() {
}

public static SparkMaxIo createMockIo() {
return new MockSparkMaxIo();
return new MockSparkMaxIo(LOGGING_NAME, MotorLoggableInputs.allMetrics());
}

public static SparkMaxIo createRealIo() {
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/subsystems/TiltSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ public void periodic() {
}

public static SparkMaxIo createMockIo() {
return new MockSparkMaxIo();
return new MockSparkMaxIo(LOGGING_NAME, MotorLoggableInputs.allMetrics());
}

public static SparkMaxIo createRealIo() {
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81 changes: 81 additions & 0 deletions src/main/java/frc/robot/utils/logging/input/GyroInputs.java
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@@ -0,0 +1,81 @@
package frc.robot.utils.logging.input;

import org.littletonrobotics.junction.LogTable;
import org.littletonrobotics.junction.inputs.LoggableInputs;

public class GyroInputs implements LoggableInputs {

private GyroValues values;

public GyroValues getGyroValues() {
return values;
}

@Override
public void toLog(LogTable table) {
table.put("anglesInDeg", values.getAnglesInDeg());
table.put("angleOffset", values.getAngleOffset());
table.put("worldLinearAccelX", values.getWorldLinearAccelX());
table.put("worldLinearAccelY", values.getWorldLinearAccelY());
table.put("worldLinearAccelZ", values.getWorldLinearAccelZ());
table.put("velocityX", values.getVelocityX());
table.put("velocityY", values.getVelocityY());
table.put("velocityZ", values.getVelocityZ());
table.put("displacementX", values.getDisplacementX());
table.put("displacementY", values.getDisplacementY());
table.put("displacementZ", values.getDisplacementZ());
table.put("rawGyroX", values.getRawGyroX());
table.put("rawGyroY", values.getRawGyroY());
table.put("rawGyroZ", values.getRawGyroZ());
table.put("rawAccelX", values.getRawAccelX());
table.put("rawAccelY", values.getRawAccelY());
table.put("rawAccelZ", values.getRawAccelZ());
table.put("rawMagX", values.getRawMagX());
table.put("rawMagY", values.getRawMagY());
table.put("rawMagZ", values.getRawMagZ());
table.put("yaw", values.getYaw());
table.put("pitch", values.getPitch());
table.put("roll", values.getRoll());
table.put("fusedHeading", values.getFusedHeading());
table.put("compassHeading", values.getCompassHeading());
table.put("robotCentricVelocityX", values.getRobotCentricVelocityX());
table.put("robotCentricVelocityY", values.getRobotCentricVelocityY());
table.put("robotCentricVelocityZ", values.getRobotCentricVelocityZ());
}

@Override
public void fromLog(LogTable table) {
values.setAnglesInDeg(table.get("anglesInDeg", values.getAnglesInDeg()));
values.setAngleOffset(table.get("angleOffset", values.getAngleOffset()));
values.setWorldLinearAccelX(table.get("worldLinearAccelX", values.getWorldLinearAccelX()));
values.setWorldLinearAccelY(table.get("worldLinearAccelY", values.getWorldLinearAccelY()));
values.setWorldLinearAccelZ(table.get("worldLinearAccelZ", values.getWorldLinearAccelZ()));
values.setVelocityX(table.get("velocityX", values.getVelocityX()));
values.setVelocityY(table.get("velocityY", values.getVelocityY()));
values.setVelocityZ(table.get("velocityZ", values.getVelocityZ()));
values.setDisplacementX(table.get("displacementX", values.getDisplacementX()));
values.setDisplacementY(table.get("displacementY", values.getDisplacementY()));
values.setDisplacementZ(table.get("displacementZ", values.getDisplacementZ()));
values.setRawGyroX(table.get("rawGyroX", values.getRawGyroX()));
values.setRawGyroY(table.get("rawGyroY", values.getRawGyroY()));
values.setRawGyroZ(table.get("rawGyroZ", values.getRawGyroZ()));
values.setRawAccelX(table.get("rawAccelX", values.getRawAccelX()));
values.setRawAccelY(table.get("rawAccelY", values.getRawAccelY()));
values.setRawAccelZ(table.get("rawAccelZ", values.getRawAccelZ()));
values.setRawMagX(table.get("rawMagX", values.getRawMagX()));
values.setRawMagY(table.get("rawMagY", values.getRawMagY()));
values.setRawMagZ(table.get("rawMagZ", values.getRawMagZ()));
values.setYaw(table.get("yaw", values.getYaw()));
values.setPitch(table.get("pitch", values.getPitch()));
values.setRoll(table.get("roll", values.getRoll()));
values.setCompassHeading(table.get("compassHeading", values.getCompassHeading()));
values.setFusedHeading(table.get("fusedHeading", values.getFusedHeading()));
values.setRobotCentricVelocityX(table.get("robotCentricVelocityX", values.getRobotCentricVelocityX()));
values.setRobotCentricVelocityY(table.get("robotCentricVelocityY", values.getRobotCentricVelocityY()));
values.setRobotCentricVelocityZ(table.get("robotCentricVelocityZ", values.getRobotCentricVelocityZ()));
}

public void fromHardware(GyroValues values) {
this.values = values;
}
}
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