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Disable network table writing of akit logs when on a real field #674

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Disable network table writing of akit logs when on a real field #674

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293773c
Disable network table writing of akit logs when on a real field
aschokking May 15, 2026
3b84870
Add explicit logging to NT of current auto command
aschokking May 22, 2026
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7 changes: 6 additions & 1 deletion src/main/java/xbot/common/command/BaseRobot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,12 @@ public void robotInit() {
if (logDirectory.exists() && logDirectory.isDirectory() && logDirectory.canWrite()) {
Logger.addDataReceiver(new WPILOGWriter("/U/logs")); // Log to a USB stick with label LOGSDRIVE plugged into the inner usb port
}
Logger.addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables

if (!DriverStation.isFMSAttached()) {
// Publish data to NetworkTables if we're not on a real field
Logger.addDataReceiver(new NT4Publisher());
}

LoggedPowerDistribution.getInstance(
PowerDistribution.kDefaultModule,
PowerDistribution.ModuleType.kRev); // Log power distribution data from the configured module
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8 changes: 6 additions & 2 deletions src/main/java/xbot/common/subsystems/autonomous/AutonomousCommandSelector.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
import javax.inject.Singleton;

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import org.apache.logging.log4j.LogManager;
import org.apache.logging.log4j.Logger;
Expand Down Expand Up @@ -51,8 +52,11 @@ public void setCurrentAutonomousStartingPosition(Pose2d position){
public void setCurrentAutonomousCommand(Command currentAutonomousCommand) {
log.info("Setting CurrentAutonomousCommand to " + currentAutonomousCommand);
log.info("Setting CurrentStartingPosition to " + currentAutonomousStartingPosition);
aKitLog.record("Current autonomous command name",
currentAutonomousCommand == null ? "No command set" : currentAutonomousCommand.getName());
var nameString = currentAutonomousCommand == null ? "No command set" : currentAutonomousCommand.getName();
aKitLog.record("Current autonomous command name", nameString);

// to make sure this is always logged to networktables no matter what, also explicitly push it to the SD
SmartDashboard.putString("Current autunomous command name", nameString);

this.currentAutonomousCommand = currentAutonomousCommand;
commandSupplier = null;
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