initial

build.gradle

@@ -10,6 +10,27 @@ java {
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
+repositories {
+    maven {
+        url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
+        credentials {
+            username = "Mechanical-Advantage-Bot"
+            password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
+        }
+    }
+    mavenLocal()
+}
+
+configurations.all {
+    exclude group: "edu.wpi.first.wpilibj"
+}
+
+task(checkAkitInstall, dependsOn: "classes", type: JavaExec) {
+    mainClass = "org.littletonrobotics.junction.CheckInstall"
+    classpath = sourceSets.main.runtimeClasspath
+}
+compileJava.finalizedBy checkAkitInstall
+
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
@@ -69,6 +90,9 @@ dependencies {
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     // testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+    def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
+    annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
 }
 
 test {

src/main/java/frc/robot/Robot.java

@@ -4,7 +4,14 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.TimedRobot;
+import org.littletonrobotics.junction.LogFileUtil;
+import org.littletonrobotics.junction.LoggedRobot;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.networktables.NT4Publisher;
+import org.littletonrobotics.junction.wpilog.WPILOGReader;
+import org.littletonrobotics.junction.wpilog.WPILOGWriter;
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -14,7 +21,7 @@
  * the package after creating this project, you must also update the build.gradle file in the
  * project.
  */
-public class Robot extends TimedRobot {
+public class Robot extends LoggedRobot {
 
     private Command m_autonomousCommand;
 
@@ -27,9 +34,33 @@ public class Robot extends TimedRobot {
      */
     @Override
     public void robotInit() {
-        // Instantiate our RobotContainer. This will perform all our button bindings, and put our
-        // autonomous chooser on the dashboard.
-        m_robotContainer = new RobotContainer();
+        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.kCTRE); // 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.disableDeterministicTimestamps() // See "Deterministic Timestamps" in the
+            // "Understanding Data Flow" page
+            Logger.start(); // Start logging! No more data receivers, replay sources, or metadata
+                            // values may be added.
+            // Instantiate our RobotContainer. This will perform all our button bindings, and put
+            // our
+            // autonomous chooser on the dashboard.
+            m_robotContainer = new RobotContainer();
+        }
     }
 
     /**

vendordeps/AdvantageKit.json

@@ -0,0 +1,42 @@
+{
+    "fileName": "AdvantageKit.json",
+    "name": "AdvantageKit",
+    "version": "3.0.2",
+    "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
+    "frcYear": "2024",
+    "mavenUrls": [],
+    "jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
+    "javaDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "wpilib-shim",
+            "version": "3.0.2"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.junction",
+            "artifactId": "junction-core",
+            "version": "3.0.2"
+        },
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-api",
+            "version": "3.0.2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "org.littletonrobotics.akit.conduit",
+            "artifactId": "conduit-wpilibio",
+            "version": "3.0.2",
+            "skipInvalidPlatforms": false,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": []
+}