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Fix PathPlanner trajectory logging in sim #25

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Merged
nlaverdure merged 1 commit into from
Jul 24, 2026
Merged

Fix PathPlanner trajectory logging in sim #25

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13 changes: 7 additions & 6 deletions src/main/java/frc/robot/subsystems/drive/Drive.java
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,9 @@ public class Drive extends SubsystemBase {
};
private ChassisSpeeds chassisSpeeds;

// PathPlanner trajectory logging (stored each loop for AKit compatibility)
private Pose2d[] lastTrajectory = new Pose2d[0];

// PID controllers for following Choreo trajectories
private final PIDController xController = new PIDController(8.01, 0.0, 0.0);
private final PIDController yController = new PIDController(8.01, 0.0, 0.0);
Expand Down Expand Up @@ -129,12 +132,7 @@ public Drive(
Pathfinding.setPathfinder(new LocalADStarAK());
PathPlannerLogging.setLogActivePathCallback(
(activePath) -> {
Logger.recordOutput(
"Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
});
PathPlannerLogging.setLogTargetPoseCallback(
(targetPose) -> {
Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
if (!activePath.isEmpty()) lastTrajectory = activePath.toArray(new Pose2d[0]);
});

// Configure SysId
Expand Down Expand Up @@ -220,6 +218,9 @@ public void periodic() {
gyroDisconnectedAlert.set(gyroDisconnected);
Logger.recordOutput("Faults/Drive/GyroDisconnected", gyroDisconnected);

// Log PathPlanner trajectory (stored by callback, recorded here for AKit compatibility)
Logger.recordOutput("Odometry/Trajectory", lastTrajectory);

// Profiling output
if (FeatureFlags.PROFILING_ENABLED) {
long totalMs = (t6 - startNanos) / 1_000_000;
Expand Down
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