Logger Standards

This section provides standards that govern the logged outputs and tunable numbers in robot code.

Recording Outputs

Any values that need to be published over NetworkTables for viewing on Shuffleboard or other WPIlib tools, should be published through the AdvantageKit Logger.

Formatting

The keys for each recorded output should be:

• Descriptive
• Gramatically correct
• Uppercase

Each recorded output has a subsystem associated with it. NetworkTables differentiates values into sections with a /. For each output, before the name of the output's key, goes the subsystem name.

ex.

Logger.recordOutput("Intake/Has Game Piece", sensor.get());

Tunable Numbers

Tunable numbers are the way that 1648 tunes constants without having to re-deploy code. Because tunable numbers are just tunable constants, they should be located in their respective subsystem's constants file. Tunable numbers follow the same formatting guidelines as recorded outputs:

ex.

public static final LoggedTunableNumber DRIVE_KP = new LoggedTunableNumber("Drive/Drive Kp");

Tunable numbers are then given default values in a static block

static {
    DRIVE_KP.initDefault(0.0);
}

Tunable numbers can be tuned over NetworkTables when the TUNING_MODE variable in Constants.java is set to true.