Telemetry Publisher

Disclaimer: WIP and untested on 2026 hardware; validate log volume and paths on your robot. Custom code built on WPILib APIs (not official WPILib sample).

Purpose: Make burn-in and practice measurable; log key data and show hub state to drivers.

Code (Java/WPILib)

public class Telemetry {
  private final DataLog log;
  private final IntegerLogEntry shiftIdx;
  private final StringLogEntry hubState;
  private final FloatLogEntry battery;
  private final FloatLogEntry driveCurrent;

  public Telemetry() {
    DataLogManager.start();
    log = DataLogManager.getLog();
    shiftIdx = new IntegerLogEntry(log, "/hub/shiftIdx");
    hubState = new StringLogEntry(log, "/hub/state");
    battery = new FloatLogEntry(log, "/pwr/battery");
    driveCurrent = new FloatLogEntry(log, "/pwr/driveCurrent");
  }

  public void recordHub(HubShiftTimer.Status status) {
    shiftIdx.append(status.shiftIndex());
    hubState.append(status.ourHub().name());
    SmartDashboard.putNumber("Shift Index", status.shiftIndex());
    SmartDashboard.putString("Hub State", status.ourHub().name());
  }

  public void recordPower(double driveAmps) {
    battery.append((float)RobotController.getBatteryVoltage());
    driveCurrent.append((float)driveAmps);
    SmartDashboard.putNumber("Battery", RobotController.getBatteryVoltage());
    SmartDashboard.putNumber("Drive Amps", driveAmps);
  }
}

Usage

Telemetry tel = new Telemetry();

// Periodic:
tel.recordHub(shiftTimer.get());
tel.recordPower(driveTrain.getAverageCurrent());

// Tag events:
DataLogManager.log("AUTO_START");
DataLogManager.log("CLIMB_START");

How to test

• Run npm run start + driver station; ensure dashboard shows hub state and currents.
• After a session, pull the log from /home/lvuser/logs (on robot) or build logs folder (sim) and view with AdvantageScope or WPILib Log Viewer.

Pitfalls

• Keep logging minimal during matches to avoid disk bloat.
• Ensure log paths are short and consistent for analysis tools.