Chore/logging

src/main/java/frc/robot/Robot.java

@@ -5,6 +5,9 @@
 package frc.robot;
 
 import com.ctre.phoenix6.SignalLogger;
+import edu.wpi.first.epilogue.Epilogue;
+import edu.wpi.first.epilogue.Logged;
+import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -14,9 +17,11 @@
  * the TimedRobot documentation. If you change the name of this class or the package after creating
  * this project, you must also update the Main.java file in the project.
  */
+@Logged
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
+  @Logged(name = "container")
   private final RobotContainer m_robotContainer;
 
   /**
@@ -27,6 +32,20 @@ public Robot() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
+
+    Epilogue.configure(
+        config -> {
+          config.root = "Robot";
+        });
+
+    // Captures NetworkTables data (.wpilog files)
+    DataLogManager.start();
+
+    // Start Phoenix 6 SignalLogger for CTRE device logging (.hoot files)
+    SignalLogger.start();
+
+    // Bind Epilogue to robot loop
+    Epilogue.bind(this);
   }
 
   /**
@@ -47,9 +66,7 @@ public void robotPeriodic() {
 
   /** This function is called once each time the robot enters Disabled mode. */
   @Override
-  public void disabledInit() {
-    SignalLogger.stop();
-  }
+  public void disabledInit() {}
 
   @Override
   public void disabledPeriodic() {}
@@ -78,7 +95,6 @@ public void teleopInit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
-    SignalLogger.start();
   }
 
   /** This function is called periodically during operator control. */

src/main/java/frc/robot/RobotContainer.java

@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -17,9 +18,13 @@
  * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
  * subsystems, commands, and trigger mappings) should be declared here.
  */
+@Logged
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
+
+  // already logged with telemetry class
   public final DrivetrainSubsystem drivetrain = new DrivetrainSubsystem();
+
   public final VisionSubsystem vision = new VisionSubsystem();
 
   // The controllers are defined here

src/main/java/frc/robot/Telemetry.java

@@ -29,7 +29,6 @@ public class Telemetry {
    */
   public Telemetry(double maxSpeed) {
     MaxSpeed = maxSpeed;
-    SignalLogger.start();
 
     /* Set up the module state Mechanism2d telemetry */
     for (int i = 0; i < 4; ++i) {