Package edu.wpi.first.wpilibj.sysid

Class SysIdRoutineLog

java.lang.Object

edu.wpi.first.wpilibj.sysid.SysIdRoutineLog

Direct Known Subclasses:

SysIdRoutine

public class SysIdRoutineLog
extends Object

Utility for logging data from a SysId test routine. Each complete routine (quasistatic and dynamic, forward and reverse) should have its own SysIdRoutineLog instance, with a unique log name.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	SysIdRoutineLog.MotorLog	Logs data from a single motor during a SysIdRoutine.
static class	SysIdRoutineLog.State	Possible state of a SysId routine.

Constructor Summary

Constructors

Constructor	Description
SysIdRoutineLog(String logName)	Create a new logging utility for a SysId test routine.

Method Summary

Modifier and Type	Method	Description
SysIdRoutineLog.MotorLog	motor(String motorName)	Log data from a motor during a SysId routine.
void	recordState(SysIdRoutineLog.State state)	Records the current state of the SysId test routine.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SysIdRoutineLog

public SysIdRoutineLog(String logName)

Create a new logging utility for a SysId test routine.

Parameters:

logName - The name for the test routine in the log. Should be unique between complete test routines (quasistatic and dynamic, forward and reverse). The current state of this test (e.g. "quasistatic-forward") will appear in WPILog under the "sysid-test-state-logName" entry.

Method Details

motor

public SysIdRoutineLog.MotorLog motor(String motorName)

Log data from a motor during a SysId routine.

Parameters:

motorName - The name of the motor.

Returns:

Handle with chainable callbacks to log individual data fields.

recordState

public void recordState(SysIdRoutineLog.State state)

Records the current state of the SysId test routine. Should be called once per iteration during tests with the type of the current test, and once upon test end with state `none`.

Parameters:

state - The current state of the SysId test routine.