From b46d7c8413f096540a16fec42960c6bd6420e1fa Mon Sep 17 00:00:00 2001
From: team3492backup <team3492@gmail.com>
Date: Wed, 4 Mar 2026 18:07:43 -0500
Subject: [PATCH 1/6] bugfix/loop-overrun

---
 src/org/parts3492/partslib/network/PARTsNT.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/org/parts3492/partslib/network/PARTsNT.java b/src/org/parts3492/partslib/network/PARTsNT.java
index 80c60bd..ae16316 100644
--- a/src/org/parts3492/partslib/network/PARTsNT.java
+++ b/src/org/parts3492/partslib/network/PARTsNT.java
@@ -482,6 +482,6 @@ public void removeEntry(String name) {
      * @param data The sendable to add.
      */
     public void putSmartDashboardSendable(String key, Sendable data) {
-        SmartDashboard.putData(String.format("%s/%s", name, key), data);
+        //SmartDashboard.putData(String.format("%s/%s", name, key), data);
     }
 }

From 2c5ca192568cf1ae9f9a790e9f6ff721a0e72904 Mon Sep 17 00:00:00 2001
From: Brandon <brandon@bduke.dev>
Date: Wed, 4 Mar 2026 21:49:45 -0500
Subject: [PATCH 2/6] comments

---
 src/org/parts3492/partslib/network/PARTsDashboard.java | 8 +++++---
 src/org/parts3492/partslib/network/PARTsNT.java        | 5 ++++-
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/src/org/parts3492/partslib/network/PARTsDashboard.java b/src/org/parts3492/partslib/network/PARTsDashboard.java
index a1d246f..be98158 100644
--- a/src/org/parts3492/partslib/network/PARTsDashboard.java
+++ b/src/org/parts3492/partslib/network/PARTsDashboard.java
@@ -13,6 +13,7 @@
 
 public class PARTsDashboard {
     private static DashboardTab state = DashboardTab.AUTONOMOUS;
+    private final static PARTsNT partsNT = new PARTsNT();
 
     public enum DashboardTab {
         AUTONOMOUS("Autonomous"),
@@ -26,14 +27,15 @@ public enum DashboardTab {
         }
     }
 
-    public PARTsDashboard() {}
+    public PARTsDashboard() {
+    }
 
     public static void setSubsystems(ArrayList<IPARTsSubsystem> subsystems) {
-        subsystems.forEach(s -> SmartDashboard.putData(s));
+        subsystems.forEach(s -> partsNT.putSmartDashboardSendable(s.getName().replace("Phys", "").replace("Sim", ""), s));
     }
 
     public static void setCommandScheduler() {
-        SmartDashboard.putData(CommandScheduler.getInstance());
+        partsNT.putSmartDashboardSendable("Command Scheduler", CommandScheduler.getInstance());
     }
 
     public static void setTab(DashboardTab dashboardState) {
diff --git a/src/org/parts3492/partslib/network/PARTsNT.java b/src/org/parts3492/partslib/network/PARTsNT.java
index ae16316..7458cfd 100644
--- a/src/org/parts3492/partslib/network/PARTsNT.java
+++ b/src/org/parts3492/partslib/network/PARTsNT.java
@@ -482,6 +482,9 @@ public void removeEntry(String name) {
      * @param data The sendable to add.
      */
     public void putSmartDashboardSendable(String key, Sendable data) {
-        //SmartDashboard.putData(String.format("%s/%s", name, key), data);
+        String topic = key;
+        if (!name.equals("Generic"))
+            topic = String.format("%s/%s", name, key);
+        // SmartDashboard.putData(topic, data); // loop-overrun
     }
 }

From 0fececfa147f5290c8373dfdd03db1bae62e787a Mon Sep 17 00:00:00 2001
From: Brandon <brandon@bduke.dev>
Date: Wed, 4 Mar 2026 22:04:12 -0500
Subject: [PATCH 3/6] add control

---
 src/org/parts3492/partslib/network/PARTsNT.java | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/org/parts3492/partslib/network/PARTsNT.java b/src/org/parts3492/partslib/network/PARTsNT.java
index 7458cfd..3406ef1 100644
--- a/src/org/parts3492/partslib/network/PARTsNT.java
+++ b/src/org/parts3492/partslib/network/PARTsNT.java
@@ -487,4 +487,9 @@ public void putSmartDashboardSendable(String key, Sendable data) {
             topic = String.format("%s/%s", name, key);
         // SmartDashboard.putData(topic, data); // loop-overrun
     }
+
+    public void putSmartDashboardSendable(String key, Sendable data, boolean debug) {
+        if (debug)
+            putSmartDashboardSendable(key, data);
+    }
 }

From 7875b2e14892ccdd79d545ffe5fbed7f36aa91d9 Mon Sep 17 00:00:00 2001
From: Awsmeworld304 <bucheckerr@gmail.com>
Date: Thu, 5 Mar 2026 10:33:18 -0500
Subject: [PATCH 4/6] Apply spotless formatting.

---
 src/org/parts3492/partslib/PARTsCandle.java           |  3 ++-
 .../parts3492/partslib/network/PARTsDashboard.java    | 11 ++++++-----
 src/org/parts3492/partslib/network/PARTsNT.java       |  7 ++-----
 3 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/src/org/parts3492/partslib/PARTsCandle.java b/src/org/parts3492/partslib/PARTsCandle.java
index 5e3cb48..4fcc69f 100644
--- a/src/org/parts3492/partslib/PARTsCandle.java
+++ b/src/org/parts3492/partslib/PARTsCandle.java
@@ -171,7 +171,8 @@ public PARTsCandle(String className, int canID, int ledLength, String canBusName
     /*---------------------------------- Custom Private Functions ---------------------------------*/
     protected void setColor(Color color) {
         setControl(new EmptyAnimation(0));
-        setControl(new SolidColor(0, LED_LENGTH).withColor(new RGBWColor(color.r, color.g, color.b)));
+        setControl(
+                new SolidColor(0, LED_LENGTH).withColor(new RGBWColor(color.r, color.g, color.b)));
     }
 
     protected void setNoColor() {
diff --git a/src/org/parts3492/partslib/network/PARTsDashboard.java b/src/org/parts3492/partslib/network/PARTsDashboard.java
index be98158..cba8167 100644
--- a/src/org/parts3492/partslib/network/PARTsDashboard.java
+++ b/src/org/parts3492/partslib/network/PARTsDashboard.java
@@ -6,14 +6,13 @@
 
 import org.parts3492.partslib.command.IPARTsSubsystem;
 
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 import java.util.ArrayList;
 
 public class PARTsDashboard {
     private static DashboardTab state = DashboardTab.AUTONOMOUS;
-    private final static PARTsNT partsNT = new PARTsNT();
+    private static final PARTsNT partsNT = new PARTsNT();
 
     public enum DashboardTab {
         AUTONOMOUS("Autonomous"),
@@ -27,11 +26,13 @@ public enum DashboardTab {
         }
     }
 
-    public PARTsDashboard() {
-    }
+    public PARTsDashboard() {}
 
     public static void setSubsystems(ArrayList<IPARTsSubsystem> subsystems) {
-        subsystems.forEach(s -> partsNT.putSmartDashboardSendable(s.getName().replace("Phys", "").replace("Sim", ""), s));
+        subsystems.forEach(
+                s ->
+                        partsNT.putSmartDashboardSendable(
+                                s.getName().replace("Phys", "").replace("Sim", ""), s));
     }
 
     public static void setCommandScheduler() {
diff --git a/src/org/parts3492/partslib/network/PARTsNT.java b/src/org/parts3492/partslib/network/PARTsNT.java
index 3406ef1..f598bb6 100644
--- a/src/org/parts3492/partslib/network/PARTsNT.java
+++ b/src/org/parts3492/partslib/network/PARTsNT.java
@@ -15,7 +15,6 @@
 import edu.wpi.first.networktables.StringEntry;
 import edu.wpi.first.networktables.StringTopic;
 import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -483,13 +482,11 @@ public void removeEntry(String name) {
      */
     public void putSmartDashboardSendable(String key, Sendable data) {
         String topic = key;
-        if (!name.equals("Generic"))
-            topic = String.format("%s/%s", name, key);
+        if (!name.equals("Generic")) topic = String.format("%s/%s", name, key);
         // SmartDashboard.putData(topic, data); // loop-overrun
     }
 
     public void putSmartDashboardSendable(String key, Sendable data, boolean debug) {
-        if (debug)
-            putSmartDashboardSendable(key, data);
+        if (debug) putSmartDashboardSendable(key, data);
     }
 }

From 66db13bc0906b74604f9792bd0a6fd13d4c22ce9 Mon Sep 17 00:00:00 2001
From: Brandon <brandon@bduke.dev>
Date: Thu, 5 Mar 2026 22:04:52 -0500
Subject: [PATCH 5/6] add control of post

---
 src/org/parts3492/partslib/PARTsCandle.java   |   1 -
 .../partslib/network/PARTsDashboard.java      |  14 +-
 .../parts3492/partslib/network/PARTsNT.java   | 208 ++++++++++--------
 3 files changed, 127 insertions(+), 96 deletions(-)

diff --git a/src/org/parts3492/partslib/PARTsCandle.java b/src/org/parts3492/partslib/PARTsCandle.java
index 4fcc69f..5dc30e9 100644
--- a/src/org/parts3492/partslib/PARTsCandle.java
+++ b/src/org/parts3492/partslib/PARTsCandle.java
@@ -413,7 +413,6 @@ public void periodic() {
 
     @Override
     public void outputTelemetry() {
-        super.partsNT.putString("Animation", candle.getAppliedControl().getName());
     }
 
     @Override
diff --git a/src/org/parts3492/partslib/network/PARTsDashboard.java b/src/org/parts3492/partslib/network/PARTsDashboard.java
index cba8167..3b46785 100644
--- a/src/org/parts3492/partslib/network/PARTsDashboard.java
+++ b/src/org/parts3492/partslib/network/PARTsDashboard.java
@@ -26,17 +26,17 @@ public enum DashboardTab {
         }
     }
 
-    public PARTsDashboard() {}
+    public PARTsDashboard() {
+    }
 
-    public static void setSubsystems(ArrayList<IPARTsSubsystem> subsystems) {
+    public static void setSubsystems(ArrayList<IPARTsSubsystem> subsystems, boolean post) {
         subsystems.forEach(
-                s ->
-                        partsNT.putSmartDashboardSendable(
-                                s.getName().replace("Phys", "").replace("Sim", ""), s));
+                s -> partsNT.putSmartDashboardSendable(
+                        s.getName().replace("Phys", "").replace("Sim", ""), s, post));
     }
 
-    public static void setCommandScheduler() {
-        partsNT.putSmartDashboardSendable("Command Scheduler", CommandScheduler.getInstance());
+    public static void setCommandScheduler(boolean post) {
+        partsNT.putSmartDashboardSendable("Command Scheduler", CommandScheduler.getInstance(), post);
     }
 
     public static void setTab(DashboardTab dashboardState) {
diff --git a/src/org/parts3492/partslib/network/PARTsNT.java b/src/org/parts3492/partslib/network/PARTsNT.java
index f598bb6..c18a14e 100644
--- a/src/org/parts3492/partslib/network/PARTsNT.java
+++ b/src/org/parts3492/partslib/network/PARTsNT.java
@@ -15,6 +15,7 @@
 import edu.wpi.first.networktables.StringEntry;
 import edu.wpi.first.networktables.StringTopic;
 import edu.wpi.first.util.sendable.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -22,9 +23,11 @@
 /**
  * PARTs NetworkTables Easy API.
  *
- * <p>{@code PARTsNT partsNT = new PARTsNT(this)}
+ * <p>
+ * {@code PARTsNT partsNT = new PARTsNT(this)}
  *
- * <p>This class is meant to be used as an instance for each class.
+ * <p>
+ * This class is meant to be used as an instance for each class.
  */
 public class PARTsNT {
     public String name = "Generic";
@@ -35,13 +38,15 @@ public class PARTsNT {
     /**
      * Generic topic entry that is not designed to be used by itself.
      *
-     * <p>Use the other chilld classes instead.
+     * <p>
+     * Use the other chilld classes instead.
      */
     private class EasyGenericEntry {
         /** The NetworkTables topic name. */
         public String topicName;
 
-        public EasyGenericEntry() {}
+        public EasyGenericEntry() {
+        }
     }
 
     class EasyBooleanEntry extends EasyGenericEntry {
@@ -54,7 +59,9 @@ class EasyBooleanEntry extends EasyGenericEntry {
         /**
          * The value last gotten from set or get.
          *
-         * <p>Its purpose here is to provide a way to get the previous cached result, saving some
+         * <p>
+         * Its purpose here is to provide a way to get the previous cached result,
+         * saving some
          * time.
          */
         public boolean cachedValue;
@@ -84,7 +91,9 @@ class EasyIntegerEntry extends EasyGenericEntry {
         /**
          * The value last gotten from set or get.
          *
-         * <p>Its purpose here is to provide a way to get the previous cached result, saving some
+         * <p>
+         * Its purpose here is to provide a way to get the previous cached result,
+         * saving some
          * time.
          */
         public int cachedValue;
@@ -114,7 +123,9 @@ class EasyDoubleEntry extends EasyGenericEntry {
         /**
          * The value last gotten from set or get.
          *
-         * <p>Its purpose here is to provide a way to get the previous cached result, saving some
+         * <p>
+         * Its purpose here is to provide a way to get the previous cached result,
+         * saving some
          * time.
          */
         public double cachedValue;
@@ -144,7 +155,9 @@ class EasyStringEntry extends EasyGenericEntry {
         /**
          * The value last gotten from set or get.
          *
-         * <p>Its purpose here is to provide a way to get the previous cached result, saving some
+         * <p>
+         * Its purpose here is to provide a way to get the previous cached result,
+         * saving some
          * time.
          */
         public String cachedValue;
@@ -174,7 +187,8 @@ public EasyStringEntry(String name, String value) {
     /**
      * Sets up the master list and the entry lists.
      *
-     * <p>Internal function.
+     * <p>
+     * Internal function.
      */
     private void setupEntryLists() {
         topicsList = new ArrayList<>();
@@ -193,9 +207,11 @@ private void setupEntryLists() {
     /**
      * Creates a new PARTsNT instance.
      *
-     * <p>Creates/uses the subtable "Generic" instead of the class subtable.
+     * <p>
+     * Creates/uses the subtable "Generic" instead of the class subtable.
      *
-     * <p>The object variation should be used instead.
+     * <p>
+     * The object variation should be used instead.
      */
     public PARTsNT() {
         table = nt_Instance.getTable("PARTs").getSubTable("Generic");
@@ -205,7 +221,8 @@ public PARTsNT() {
     /**
      * Creates a new PARTsNT instance.
      *
-     * <p>Creates/uses the class subtable.
+     * <p>
+     * Creates/uses the class subtable.
      *
      * @param o The class object. (E.g. passing in 'this'.)
      */
@@ -218,9 +235,11 @@ public PARTsNT(Object o) {
     /**
      * Creates a new PARTsNT instance.
      *
-     * <p>Creates/uses the subtable of the class via its name.
+     * <p>
+     * Creates/uses the subtable of the class via its name.
      *
-     * <p>If the name is empty, then the "Generic" table will be used instead.
+     * <p>
+     * If the name is empty, then the "Generic" table will be used instead.
      *
      * @param className The name of the class.
      */
@@ -254,10 +273,12 @@ private void addEntryToList(EasyGenericEntry entry) {
      * @param name The name of the entry.
      * @return The entry if it exists, otherwise null.
      */
-    private EasyGenericEntry getEntry(String name) {
-        for (EasyGenericEntry entry : topicsList) {
-            if (entry.topicName.equals(name)) return entry;
-        }
+    private EasyGenericEntry getEntry(String name, boolean pull) {
+        if (pull)
+            for (EasyGenericEntry entry : topicsList) {
+                if (entry.topicName.equals(name))
+                    return entry;
+            }
         return null;
     }
 
@@ -269,10 +290,12 @@ private EasyGenericEntry getEntry(String name) {
      * @param name The name of the entry.
      * @return The entry if it exists, otherwise null.
      */
-    private EasyBooleanEntry getBooleanEntry(String name) {
-        for (EasyBooleanEntry entry : booleanEntries) {
-            if (entry.topicName.equals(name)) return entry;
-        }
+    private EasyBooleanEntry getBooleanEntry(String name, boolean pull) {
+        if (pull)
+            for (EasyBooleanEntry entry : booleanEntries) {
+                if (entry.topicName.equals(name))
+                    return entry;
+            }
         return null;
     }
 
@@ -282,10 +305,12 @@ private EasyBooleanEntry getBooleanEntry(String name) {
      * @param name The name of the entry.
      * @return The entry if it exists, otherwise null.
      */
-    private EasyIntegerEntry getIntegerEntry(String name) {
-        for (EasyIntegerEntry entry : integerEntries) {
-            if (entry.topicName.equals(name)) return entry;
-        }
+    private EasyIntegerEntry getIntegerEntry(String name, boolean pull) {
+        if (pull)
+            for (EasyIntegerEntry entry : integerEntries) {
+                if (entry.topicName.equals(name))
+                    return entry;
+            }
         return null;
     }
 
@@ -295,10 +320,12 @@ private EasyIntegerEntry getIntegerEntry(String name) {
      * @param name The name of the entry.
      * @return The entry if it exists, otherwise null.
      */
-    private EasyDoubleEntry getDoubleEntry(String name) {
-        for (EasyDoubleEntry entry : doubleEntries) {
-            if (entry.topicName.equals(name)) return entry;
-        }
+    private EasyDoubleEntry getDoubleEntry(String name, boolean pull) {
+        if (pull)
+            for (EasyDoubleEntry entry : doubleEntries) {
+                if (entry.topicName.equals(name))
+                    return entry;
+            }
         return null;
     }
 
@@ -308,10 +335,12 @@ private EasyDoubleEntry getDoubleEntry(String name) {
      * @param name The name of the entry.
      * @return The entry if it exists, otherwise null.
      */
-    private EasyStringEntry getStringEntry(String name) {
-        for (EasyStringEntry entry : stringEntries) {
-            if (entry.topicName.equals(name)) return entry;
-        }
+    private EasyStringEntry getStringEntry(String name, boolean pull) {
+        if (pull)
+            for (EasyStringEntry entry : stringEntries) {
+                if (entry.topicName.equals(name))
+                    return entry;
+            }
         return null;
     }
 
@@ -323,24 +352,25 @@ private EasyStringEntry getStringEntry(String name) {
      * @param name The topic name.
      * @return Returns the boolean value if entry is found, otherwise returns false.
      */
-    public boolean getBoolean(String name) {
-        EasyBooleanEntry entry = getBooleanEntry(name);
+    public boolean getBoolean(String name, boolean pull) {
+        EasyBooleanEntry entry = getBooleanEntry(name, pull);
         return (entry == null) ? false : (entry.cachedValue = entry.entry.get());
     }
 
     /**
      * Sets the boolean value for the requested entry.
      *
-     * @param name The name of the entry.
+     * @param name  The name of the entry.
      * @param value The new value to publish to the entry.
      */
-    public void putBoolean(String name, boolean value) {
-        EasyBooleanEntry entry = getBooleanEntry(name);
-        if (entry == null) {
-            booleanEntries.add(new EasyBooleanEntry(name, value));
-        } else if (entry.cachedValue != value) {
-            entry.entry.set((entry.cachedValue = value));
-        }
+    public void putBoolean(String name, boolean value, boolean post) {
+        EasyBooleanEntry entry = getBooleanEntry(name, post);
+        if (post)
+            if (entry == null) {
+                booleanEntries.add(new EasyBooleanEntry(name, value));
+            } else if (entry.cachedValue != value) {
+                entry.entry.set((entry.cachedValue = value));
+            }
     }
 
     // * -------- INTEGER FUNCTIONS -------- *//
@@ -351,24 +381,25 @@ public void putBoolean(String name, boolean value) {
      * @param name The name of the entry.
      * @return Returns the value if entry is found, otherwise returns zero.
      */
-    public int getInteger(String name) {
-        EasyIntegerEntry entry = getIntegerEntry(name);
+    public int getInteger(String name, boolean pull) {
+        EasyIntegerEntry entry = getIntegerEntry(name, pull);
         return (entry == null) ? 0 : (entry.cachedValue = Math.toIntExact(entry.entry.get()));
     }
 
     /**
      * Sets the integer value for the requested entry.
      *
-     * @param name The name of the entry.
+     * @param name  The name of the entry.
      * @param value The new value to publish to the entry.
      */
-    public void putInteger(String name, int value) {
-        EasyIntegerEntry entry = getIntegerEntry(name);
-        if (entry == null) {
-            integerEntries.add(new EasyIntegerEntry(name, value));
-        } else if (entry.cachedValue != value) {
-            entry.entry.set((entry.cachedValue = value));
-        }
+    public void putInteger(String name, int value, boolean post) {
+        EasyIntegerEntry entry = getIntegerEntry(name, post);
+        if (post)
+            if (entry == null) {
+                integerEntries.add(new EasyIntegerEntry(name, value));
+            } else if (entry.cachedValue != value) {
+                entry.entry.set((entry.cachedValue = value));
+            }
     }
 
     // * -------- DOUBLE FUNCTIONS -------- *//
@@ -379,44 +410,45 @@ public void putInteger(String name, int value) {
      * @param name The name of the entry.
      * @return Returns the value if entry is found, otherwise returns zero.
      */
-    public double getDouble(String name) {
-        EasyDoubleEntry entry = getDoubleEntry(name);
+    public double getDouble(String name, boolean pull) {
+        EasyDoubleEntry entry = getDoubleEntry(name, pull);
         return (entry == null) ? 0 : (entry.cachedValue = entry.entry.get());
     }
 
     /**
      * Sets the double value for the requested entry.
      *
-     * @param name The name of the entry.
+     * @param name  The name of the entry.
      * @param value The new value to publish to the entry.
      */
-    public void putDouble(String name, double value) {
-        EasyDoubleEntry entry = getDoubleEntry(name);
-        if (entry == null) {
-            doubleEntries.add(new EasyDoubleEntry(name, value));
-        } else if (entry.cachedValue != value) {
-            entry.entry.set((entry.cachedValue = value));
-        }
+    public void putDouble(String name, double value, boolean post) {
+        EasyDoubleEntry entry = getDoubleEntry(name, post);
+        if (post)
+            if (entry == null) {
+                doubleEntries.add(new EasyDoubleEntry(name, value));
+            } else if (entry.cachedValue != value) {
+                entry.entry.set((entry.cachedValue = value));
+            }
     }
 
     /**
      * Sets the double value for the requested entry.
      *
-     * @param name The name of the entry.
+     * @param name  The name of the entry.
      * @param value The new value to publish to the entry.
      */
-    public void putNumber(String name, double value) {
-        putDouble(name, value);
+    public void putNumber(String name, double value, boolean post) {
+        putDouble(name, value, post);
     }
 
     /**
      * Sets the integer value for the requested entry.
      *
-     * @param name The name of the entry.
+     * @param name  The name of the entry.
      * @param value The new value to publish to the entry.
      */
-    public void putNumber(String name, int value) {
-        putInteger(name, value);
+    public void putNumber(String name, int value, boolean post) {
+        putInteger(name, value, post);
     }
 
     // * -------- STRING FUNCTIONS -------- *//
@@ -425,26 +457,28 @@ public void putNumber(String name, int value) {
      * Gets the string value from the requested entry.
      *
      * @param name The name of the entry.
-     * @return Returns the value if entry is found, otherwise returns an empty string.
+     * @return Returns the value if entry is found, otherwise returns an empty
+     *         string.
      */
-    public String getString(String name) {
-        EasyStringEntry entry = getStringEntry(name);
+    public String getString(String name, boolean pull) {
+        EasyStringEntry entry = getStringEntry(name, pull);
         return (entry == null) ? "" : (entry.cachedValue = entry.entry.get());
     }
 
     /**
      * Sets the string value for the requested entry.
      *
-     * @param name The name of the entry.
+     * @param name  The name of the entry.
      * @param value The new value to publish to the entry.
      */
-    public void putString(String name, String value) {
-        EasyStringEntry entry = getStringEntry(name);
-        if (entry == null) {
-            stringEntries.add(new EasyStringEntry(name, value));
-        } else if (entry.cachedValue != value) {
-            entry.entry.set((entry.cachedValue = value));
-        }
+    public void putString(String name, String value, boolean post) {
+        EasyStringEntry entry = getStringEntry(name, post);
+        if (post)
+            if (entry == null) {
+                stringEntries.add(new EasyStringEntry(name, value));
+            } else if (entry.cachedValue != value) {
+                entry.entry.set((entry.cachedValue = value));
+            }
     }
 
     // * -------- REMOVAL FUNCTIONS -------- *//
@@ -480,13 +514,11 @@ public void removeEntry(String name) {
      *
      * @param data The sendable to add.
      */
-    public void putSmartDashboardSendable(String key, Sendable data) {
+    public void putSmartDashboardSendable(String key, Sendable data, boolean post) {
         String topic = key;
-        if (!name.equals("Generic")) topic = String.format("%s/%s", name, key);
-        // SmartDashboard.putData(topic, data); // loop-overrun
-    }
-
-    public void putSmartDashboardSendable(String key, Sendable data, boolean debug) {
-        if (debug) putSmartDashboardSendable(key, data);
+        if (!name.equals("Generic"))
+            topic = String.format("%s/%s", name, key);
+        if (post)
+            SmartDashboard.putData(topic, data); // loop-overrun
     }
 }

From 6cd2ca8394a408f1886cb48dcc98a64521770a53 Mon Sep 17 00:00:00 2001
From: Brandon Duke <brandon@bduke.dev>
Date: Fri, 6 Mar 2026 09:32:08 -0500
Subject: [PATCH 6/6] conditional logging

---
 src/org/parts3492/partslib/PARTsCandle.java |   6 -
 src/org/parts3492/partslib/PARTsLogger.java | 120 +++++++++++---------
 2 files changed, 66 insertions(+), 60 deletions(-)

diff --git a/src/org/parts3492/partslib/PARTsCandle.java b/src/org/parts3492/partslib/PARTsCandle.java
index 5dc30e9..d799d81 100644
--- a/src/org/parts3492/partslib/PARTsCandle.java
+++ b/src/org/parts3492/partslib/PARTsCandle.java
@@ -417,19 +417,13 @@ public void outputTelemetry() {
 
     @Override
     public void stop() {
-        // TODO Auto-generated method stub
-        // throw new UnsupportedOperationException("Unimplemented method 'stop'");
     }
 
     @Override
     public void reset() {
-        // TODO Auto-generated method stub
-        // throw new UnsupportedOperationException("Unimplemented method 'reset'");
     }
 
     @Override
     public void log() {
-        // TODO Auto-generated method stub
-        super.partsLogger.logString("Animation", candle.getAppliedControl().getName());
     }
 }
diff --git a/src/org/parts3492/partslib/PARTsLogger.java b/src/org/parts3492/partslib/PARTsLogger.java
index b3bed3f..32668b7 100644
--- a/src/org/parts3492/partslib/PARTsLogger.java
+++ b/src/org/parts3492/partslib/PARTsLogger.java
@@ -23,7 +23,8 @@ public class PARTsLogger {
     /**
      * Create a new PARTsLogger.
      *
-     * <p>By default, logging is disabled.
+     * <p>
+     * By default, logging is disabled.
      */
     public PARTsLogger() {
         instantiate(false);
@@ -43,7 +44,8 @@ public PARTsLogger(boolean allowLogging) {
     /**
      * Create a new PARTsLogger with the following name.
      *
-     * <p>By default, logging is disabled.
+     * <p>
+     * By default, logging is disabled.
      */
     public PARTsLogger(String name) {
         instantiate(false);
@@ -65,9 +67,11 @@ public PARTsLogger(String name, boolean allowLogging) {
     /**
      * Create a new PARTsLogger with the object's class name.
      *
-     * <p>E.g. <code>PARTsLogger</code>.
+     * <p>
+     * E.g. <code>PARTsLogger</code>.
      *
-     * <p>By default, logging is disabled.
+     * <p>
+     * By default, logging is disabled.
      */
     public PARTsLogger(Object o) {
         name = o.getClass().getSimpleName();
@@ -77,7 +81,8 @@ public PARTsLogger(Object o) {
     /**
      * Create a new PARTsLogger with the object's class name.
      *
-     * <p>E.g. <code>PARTsLogger</code>.
+     * <p>
+     * E.g. <code>PARTsLogger</code>.
      *
      * <p>
      *
@@ -90,11 +95,12 @@ public PARTsLogger(Object o, boolean allowLogging) {
 
     private void instantiate(boolean allowLogging) {
         loggingEnabled = allowLogging;
-        if (loggingEnabled) {
-            // Starts recording to data log
-            DataLogManager.start();
+        if (loggingEnabled) {            
 
-            if (log == null) log = DataLogManager.getLog();
+            if (log == null){
+                // Starts recording to data log
+                DataLogManager.start();
+                log = DataLogManager.getLog();}
         }
     }
 
@@ -108,67 +114,73 @@ public void disableLogging() {
         instantiate(false);
     }
 
-    public boolean logBoolean(String key, boolean b) {
-        if (loggingEnabled) {
+    public boolean logBoolean(String key, boolean b, boolean logEntry) {
+        if (loggingEnabled && logEntry) {
             new BooleanLogEntry(log, name.length() > 0 ? String.format("%s/%s", name, key) : key)
                     .append(b);
             return true;
-        } else return false;
+        } else
+            return false;
     }
 
-    public boolean logDouble(String key, double d) {
-        if (loggingEnabled) {
+    public boolean logDouble(String key, double d, boolean logEntry) {
+        if (loggingEnabled && logEntry) {
             new DoubleLogEntry(log, name.length() > 0 ? String.format("%s/%s", name, key) : key)
                     .append(d);
             return true;
-        } else return false;
+        } else
+            return false;
     }
 
-    public boolean logString(String key, String s) {
-        if (loggingEnabled) {
+    public boolean logString(String key, String s, boolean logEntry) {
+        if (loggingEnabled && logEntry) {
             new StringLogEntry(log, name.length() > 0 ? String.format("%s/%s", name, key) : key)
                     .append(s);
             return true;
-        } else return false;
+        } else
+            return false;
     }
 
-    public void logCommandScheduler() {
-
-        // Set the scheduler to log events for command initialize, interrupt, finish
-        CommandScheduler.getInstance()
-                .onCommandInitialize(
-                        command -> {
-                            logString(command.getName(), "Command initialized");
-                        });
-        CommandScheduler.getInstance()
-                .onCommandInterrupt(
-                        command -> {
-                            logString(command.getName(), "Command interrupted");
-                        });
-        CommandScheduler.getInstance()
-                .onCommandFinish(
-                        command -> {
-                            logString(command.getName(), "Command finished");
-                        });
+    public void logCommandScheduler(boolean logEntry) {
+        if (logEntry) {
+            // Set the scheduler to log events for command initialize, interrupt, finish
+            CommandScheduler.getInstance()
+                    .onCommandInitialize(
+                            command -> {
+                                logString(command.getName(), "Command initialized", true);
+                            });
+            CommandScheduler.getInstance()
+                    .onCommandInterrupt(
+                            command -> {
+                                logString(command.getName(), "Command interrupted", true);
+                            });
+            CommandScheduler.getInstance()
+                    .onCommandFinish(
+                            command -> {
+                                logString(command.getName(), "Command finished", true);
+                            });
+        }
     }
 
-    public void logPathPlanner() {
-        // Logging callback for target robot pose
-        PathPlannerLogging.setLogTargetPoseCallback(
-                (pose) -> {
-                    // Do whatever you want with the pose here
-                    FieldBase.FIELD2D
-                            .getObject("target pose")
-                            .setPose(FieldBase.conditionallyTransformToOppositeAlliance(pose));
-                });
-
-        // Logging callback for the active path, this is sent as a list of poses
-        PathPlannerLogging.setLogActivePathCallback(
-                (poses) -> {
-                    // Do whatever you want with the poses here
-                    FieldBase.FIELD2D
-                            .getObject("path")
-                            .setPoses(FieldBase.conditionallyTransformToOppositeAlliance(poses));
-                });
+    public void logPathPlanner(boolean logEntry) {
+        if (logEntry) {
+            // Logging callback for target robot pose
+            PathPlannerLogging.setLogTargetPoseCallback(
+                    (pose) -> {
+                        // Do whatever you want with the pose here
+                        FieldBase.FIELD2D
+                                .getObject("target pose")
+                                .setPose(FieldBase.conditionallyTransformToOppositeAlliance(pose));
+                    });
+
+            // Logging callback for the active path, this is sent as a list of poses
+            PathPlannerLogging.setLogActivePathCallback(
+                    (poses) -> {
+                        // Do whatever you want with the poses here
+                        FieldBase.FIELD2D
+                                .getObject("path")
+                                .setPoses(FieldBase.conditionallyTransformToOppositeAlliance(poses));
+                    });
+        }
     }
 }