Welcome to AdvantageKit

AdvantageKit is a logging, telemetry, and replay framework developed by Team 6328. AdvantageKit enables log replay, where the full state of the robot code can be replayed in simulation based on a log file (What is AdvantageKit?).

danger

AdvantageKit is not a general-purpose logging framework. Before continuing, check the documentation for:

AdvantageScope, our robot telemetry application which does not require AdvantageKit to use.
WPILib Data Logging, a simpler logging system included in WPILib (does not support log replay in simulation, but covers the needs of most teams).

REQUIRED

The steps below are required to complete a valid installation of AdvantageKit.

tip

Instead of installing AdvantageKit in an existing project, consider using one of AdvantageKit's template projects to get started more quickly. These projects can be downloaded from the latest release and include prebuilt subsystems for swerve drives, vision systems, the FIRST KitBot, and more!

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"
}

Configure the main Robot class to inherit from LoggedRobot as shown below. See here for details.

public class Robot extends LoggedRobot {
    ...
}

Initialize the logging framework 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.

note

For all support requests, please email software@team6328.org.

REQUIRED​

REQUIRED