From 3ea910084543f4d5f73073d09faaba3bae13da08 Mon Sep 17 00:00:00 2001 From: Matt Morley Date: Sat, 19 Apr 2025 17:37:31 -0700 Subject: [PATCH] Add docs about robot modes (#1924) ## Description Adds docs about the new logging added in 1923 ## Meta Merge checklist: - [x] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes - [x] The description documents the _what_ and _why_ - [x] If this PR changes behavior or adds a feature, user documentation is updated - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly - [ ] If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1 - [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated - [ ] If this PR addresses a bug, a regression test for it is added --- docs/source/docs/troubleshooting/logging.md | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/docs/source/docs/troubleshooting/logging.md b/docs/source/docs/troubleshooting/logging.md index ddf275a60..bf1eea0fa 100644 --- a/docs/source/docs/troubleshooting/logging.md +++ b/docs/source/docs/troubleshooting/logging.md @@ -20,3 +20,21 @@ Logs are stored inside the {code}`photonvision_config/logs` directory. Exporting Your browser does not support the video tag. ``` + +Robot mode transitions are also recorded in program logs. These transition messages look something like the two shown below, and show the contents of the [HAL Control Word](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/hal/ControlWord.html) that the robot was in previously, and what it is now in. This includes: +- Enabled state +- Robot state (autonomous vs teleoperated) +- If the robot e-stop is active + +If the robot is connected to the FMS at an event, we will additionally print out: +- Event name +- Match type +- Driver station position + + +``` +[2025-04-19 19:52:08] [NetworkTables - NTDriverStation] [INFO] ROBOT TRANSITIONED MODES! From NtControlWord[m_enabled=true, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true] to NtControlWord[m_enabled=true, m_autonomous=false, m_test=true, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true] + +[2025-04-19 19:52:09] [NetworkTables - NTDriverStation] [INFO] ROBOT TRANSITIONED MODES! From NtControlWord[m_enabled=true, m_autonomous=false, m_test=true, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true] to NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=false, m_dsAttached=false] +[2025-04-19 19:52:19] [NetworkTables - NTDriverStation] [INFO] ROBOT TRANSITIONED MODES! From NtControlWord[m_enabled=false, m_autonomous=false, m_test=false, m_emergencyStop=false, m_fmsAttached=false, m_dsAttached=false] to NtControlWord[m_enabled=true, m_autonomous=true, m_test=false, m_emergencyStop=false, m_fmsAttached=true, m_dsAttached=true] +```