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Add docs about robot modes (#1924)

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## 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
This commit is contained in:
Matt Morley
2025-04-19 17:37:31 -07:00
committed by GitHub
parent ad1f51ba06
commit 3ea9100845
1 changed files with 18 additions and 0 deletions
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18
docs/source/docs/troubleshooting/logging.md
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@@ -20,3 +20,21 @@ Logs are stored inside the {code}`photonvision_config/logs` directory. Exporting
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</video>
```
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]
```