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Built-In Logging

AdvantageKit automatically logs many important fields as inputs or outputs. No configuration is required to use these features.

info

Built-in input values are available during replay with guaranteed accuracy, and can be freely accessed in user code without manual logging. All other inputs must be logged using an IO interface.

Inputs​

Timestamp​

AdvantageKit logs and replays the value of RobotController.getTime(), Timer.getTimestamp(), etc. See this page for more details on timestamps in AdvantageKit.

warning

The methods RobotController.getFPGATime() and Timer.getFPGATimestamp() are used for accessing the real (non-deterministic) timestamp, and should only be used within IO implementations or for performance profiling.

Driver Station​

All values that can be accessed via the DriverStation or WPILib HID classes (Joystick, XboxController, etc) are automatically logged and replayed. These fields are available under the DriverStation table.

Dashboard Inputs​

Dashboard inputs accessed via AdvantageKit dashboard classes are automatically logged and replayed. See this page for details. These fields are available under the NetworkInputs table.

Outputs​

Alerts​

The state of any alerts created through WPILib's persistent alerts API will be automatically logged as outputs. These alerts can be visualized using AdvantageScope's 📉 Line Graph tab. These fields are available under the RealOutputs or ReplayOutputs table.

Alerts screenshot

Console​

Console output is automatically logged by AdvantageKit to the Console"field, and can be viewed using AdvantageScope's 💬 Console tab. This field are available under the RealOutputs or ReplayOutputs table.

info

Output from native code is not included when running in simulation.

Console screenshot

Radio Status​

Status data from the VH-109 radio is automatically logged every ~5 seconds. This includes useful information about the connection status, bandwidth usage, etc. These fields are available under the RadioStatus table.

Radio data

Power Distribution Data​

The current on each channel, along with other useful stats, are automatically logged by AdvantageKit as outputs. The LoggedPowerDistribution class can be used to configure this behavior, such as manually setting the Power Distribution CAN ID. These fields are available under the PowerDistribution table.

warning

This feature is only supported on Power Distribution devices that support current monitoring (the CTRE PDP and REV PDH). The CTRE PDP 2.0 is not supported.

System Stats​

Important status information from the roboRIO is automatically recorded, such as the battery voltage, rail status, CAN status, and system time. These fields are available under the SystemStats table.

Performance Data​

Several important fields are automatically recorded to measure the performance of the robot code:

  • LoggedRobot/FullCycleMS: The execution time of all periodic code, should be less than the loop period (20ms by default).
  • LoggedRobot/UserCodeMs: The execution time of all user periodic code.
  • LoggedRobot/LogPeriodicMS: The execution time of all AdvantageKit periodic code.
  • LoggedRobot/GCTimeMS: The total execution time of the Java garbage collector within the last loop cycle, may or may not overlap with other code execution.
  • LoggedRobot/GCCount: The total number of collections performance by the Java garbage collector within the last loop cycle.
  • Logger/QueuedCycle: The number of cycles of data in queue to be written to data receivers.
  • Logger/...MS: The excution time of each step of the AdvantageKit periodic code.