Improve Logging

[arovge]

Motivation

We talked a while ago about looking into better logging capabilities. After seeing some bizarre movement when auto would start, we determined this could've been the gyro not being at 180deg before moving (likely) or from human error when manually zeroing the swerve module drive wheels. Now, it sounds like after wiring the gyro directly into the PDH instead of into the VRM, this issue is no longer occurring. Regardless, we should have logging during each match to better diagnose issues like this

Solution

Each subsystem should log out all sensor positions in each subsystems periodic() function. This article gives the impression that this is straightforward: https://docs.wpilib.org/en/stable/docs/software/telemetry/datalog.html

Note: we need to aware of how often we're logging data. The roboRIO1/microSD card in the roboRIO2 will quickly fill up if we're logging all this each match. Either need to: log rarely, log more often & remove the log files periodically, or use a massive microSD card in a roboRIO2

We can SFTP into the roboRIO when it's enabled to download & delete the log files. Maybe we could do that instead of removing a roboRIO2 microSD card? Although maybe removing the microSD card is preferred since the pit team may not want to turn the robot on while it's being worked on

Deliverables

• A logging solution that can be easily enabled/disabled
  • Either a code change or something that is enabled in Shuffleboard. One is likely better than the other
• An example of a log file generated while the robot was enabled
• Documented process for retrieving log files off of a roboRIO