Existing Projects

To install the AdvantageKit vendordep, follow the instructions in the WPILib documentation for installing vendor libraries and choose "AdvantageKit" from the list. Alternatively, go to "WPILib: Manage Vendor Libraries" > "Install new libraries (online)" in VSCode and paste the URL below.

https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json

Next, add the following blocks to the build.gradle file. Note that the lines under dependencies should be combined with the existing dependencies block.

task(replayWatch, type: JavaExec) {
    mainClass = "org.littletonrobotics.junction.ReplayWatch"
    classpath = sourceSets.main.runtimeClasspath
}

dependencies {
    // ...
    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
    annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
}

Robot Configuration

The main Robot class must inherit from LoggedRobot (see below). LoggedRobot performs the same functions as TimedRobot, with some exceptions:

It does not support adding extra periodic functions.
The method setUseTiming allows the user code to disable periodic timing and run cycles as fast as possible during replay. The timestamp read by methods like Timer.getFPGATimstamp() will still match the timestamp from the real robot.

public class Robot extends LoggedRobot {
    ...
}

The user program is responsible for configuring and initializing the logging framework. This setup should be placed in the constructor of Robot before any other initialization. An example configuration is provided below:

Logger.recordMetadata("ProjectName", "MyProject"); // Set a metadata value

if (isReal()) {
    Logger.addDataReceiver(new WPILOGWriter()); // Log to a USB stick ("/U/logs")
    Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
    new PowerDistribution(1, ModuleType.kRev); // Enables power distribution logging
} else {
    setUseTiming(false); // Run as fast as possible
    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
}

Logger.start(); // Start logging! No more data receivers, replay sources, or metadata values may be added.

info

By default, the WPILOGWriter class writes to a USB stick when running on the roboRIO. A FAT32 formatted USB stick must be connected to one of the roboRIO USB ports.

This setup enters replay mode for all simulator runs. If you need to run the simulator without replay (e.g. a physics simulator or Romi), extra constants or selection logic is required. See the template projects for one method of implementing this logic.

Robot Configuration​

Robot Configuration