Bugfix/loop overrun

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() {
@@ -412,24 +413,17 @@ public void periodic() {
 
     @Override
     public void outputTelemetry() {
-        super.partsNT.putString("Animation", candle.getAppliedControl().getName());
     }
 
     @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());
     }
 }

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));
+                    });
+        }
     }
 }

src/org/parts3492/partslib/network/PARTsDashboard.java

@@ -6,13 +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 static final PARTsNT partsNT = new PARTsNT();
 
     public enum DashboardTab {
         AUTONOMOUS("Autonomous"),
@@ -26,14 +26,17 @@ public enum DashboardTab {
         }
     }
 
-    public PARTsDashboard() {}
+    public PARTsDashboard() {
+    }
 
-    public static void setSubsystems(ArrayList<IPARTsSubsystem> subsystems) {
-        subsystems.forEach(s -> SmartDashboard.putData(s));
+    public static void setSubsystems(ArrayList<IPARTsSubsystem> subsystems, boolean post) {
+        subsystems.forEach(
+                s -> partsNT.putSmartDashboardSendable(
+                        s.getName().replace("Phys", "").replace("Sim", ""), s, post));
     }
 
-    public static void setCommandScheduler() {
-        SmartDashboard.putData(CommandScheduler.getInstance());
+    public static void setCommandScheduler(boolean post) {
+        partsNT.putSmartDashboardSendable("Command Scheduler", CommandScheduler.getInstance(), post);
     }
 
     public static void setTab(DashboardTab dashboardState) {