Annotation Logging

By adding the @AutoLog annotation to your inputs class, AdvantageKit will automatically generate implementations of toLog and fromLog for your inputs. All data types are supported with the exception of mechanism states. Loggable inputs can also be nested and used as fields.

For example:

@AutoLog
public class MyInputs {
    public double myNumber = 0.0;
    public Pose2d myPose = new Pose2d();
    public MyEnum myEnum = MyEnum.VALUE;
}

This will generate the following class:

class MyInputsAutoLogged extends MyInputs implements LoggableInputs {
    public void toLog(LogTable table) {
        table.put("MyNumber", myField);
        table.put("MyPose", myPose);
        table.put("MyEnum", myEnum);
    }

    public void fromLog(LogTable table) {
        myNumber = table.get("MyNumber", myNumber);
        myPose = table.get("MyPose", myPose);
        myEnum = table.get("MyEnum", myEnum);
    }
}

Note that you should use the <className>AutoLogged class, rather than your annotated class. The AdvantageKit template projects are a useful reference for how to use @AutoLog in a full project.

Units

To ensure that AdvantageScope will correctly visualize unit data, units can be specified by modifying the field name or using a Measure object.

info

Unlike when logged as outputs, Measure values in an inputs class are always logged using the base unit and not the user-specified unit (e.g. distances will always be logged in meters). This ensures that unit differences between IO implementations are not reflected in the logged data.

@AutoLog
public class MyInputs {
    public double myDistanceMeters = 0.0;
    public Distance myDistance = Meters.of(0.0);
}

Units​

Units