advantagekit logger

BitBucketsFRC4183 · Jan 20, 2025 · 12d33bc · 12d33bc
1 parent e9e3b43
commit 12d33bc
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/subsystems/ClawSubsystem/ClawSubsystem.java b/src/main/java/frc/robot/subsystems/ClawSubsystem/ClawSubsystem.java
@@ -1,5 +1,8 @@
 package frc.robot.subsystems.ClawSubsystem;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.AutoLog;
+import org.littletonrobotics.junction.Logger;
+import org.littletonrobotics.junction.inputs.LoggableInputs;
 
 public class ClawSubsystem extends SubsystemBase {
     private final EndEffectorIO endEffector;
@@ -20,5 +23,6 @@ public void close() {
 
     public void robotPeriodic() {
         endEffector.updateInputs(inputs);
+        Logger.processInputs("ClawSubsystem", (LoggableInputs) inputs);
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/ClawSubsystem/EndEffectorIOSim.java b/src/main/java/frc/robot/subsystems/ClawSubsystem/EndEffectorIOSim.java
@@ -28,7 +28,7 @@ public void goToSetpoint(DCMotorSim motor, double setpoint) {
     public void rotateGrippers() {
         setVelocity(gripperWheel, 1);
         try {
-            Thread.sleep(30);
+            Thread.sleep(ClawConstants.gripperMoveTimeMilliseconds);
         } catch (InterruptedException e) {
             throw new RuntimeException(e);
         }
@@ -41,4 +41,8 @@ public void setVelocity(DCMotorSim motor, double velocity) {
     public void setVoltage(DCMotorSim motor, double volts) {
         motor.setInputVoltage(volts);
     }
+
+    public void updateInputs(EndEffectorInputs inputs) {
+        inputs.volts = 0.0;
+    }
 }