AdvantageKit is a logging, telemetry, and replay framework developed by Team 6328. Please see the following guides to get started, or the README files for individual components.

• What is AdvantageKit?
• Installation
• Data Flow
• Recording Inputs: IO Layers
• Recording Outputs
• Version Control
• Common Issues (And How To Avoid Them)
• Developing AdvantageKit

Example Projects

Looking to get started quickly? Here are some example projects to check out:

• AdvantageKit Skeleton Template - Simple TimedRobot style template project. The zip is attached to the latest release.
• AdvantageKit Command-Based Example - Example command based project with a tank drive and closed-loop flywheel, including sim support. The zip is attached to the latest release.
• Team 6328's 2022 Swerve Code - Swerve drive code built with AdvantageKit v2 (2023).
• Team 6328's 2022 Competition Code - Full robot code built with AdvantageKit v1 (2022).
• Team 4099's 2022 Competition Code - Kotlin robot code built with AdvantageKit v1 (2022).

Repository Structure

Logging

• junction - Primary component of logging, manages the flow of data between user code, WPILib, log files, network clients, etc. Written in Java.
  • junction/core - Central system for managing data, including reading and writing from log files and user code.
  • junction/shims - Replaces components of other libraries (WPILib) to interact directly with junction.
    • junction/shims/wpilib - Replaces WPILib components to read data from junction instead of the HAL.
  • junction/autolog - Annotation procesor for creating log input classes.
• conduit - Transfers data between junction and the WPILib HAL efficiently. Written in C++ and Java.

General

• build_tools - Utilities to assist with building in Bazel and interfacing with WPILib and the roboRIO.
• third_party - Tools for integrating third party libraries like WPILib.