Log everything

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

@@ -127,7 +127,7 @@ public RobotContainer() {
                         drive
                 ),
                 drive::resetOdometry,
-                false,
+                true,
                 this
         );
 

src/main/java/frc/robot/subsystems/arm/Arm.java

@@ -2,12 +2,12 @@
 
 import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.subsystems.arm.ArmIO.ArmInputs;
+import org.littletonrobotics.junction.Logger;
 
 public class Arm extends SubsystemBase {
 
     ArmIO io;
-    ArmInputs inputs = new ArmInputs();
+    ArmInputsAutoLogged inputs = new ArmInputsAutoLogged();
 
     public Arm(ArmIO io) {
         this.io = io;
@@ -26,8 +26,12 @@ public void setArmPosition(double position) {
     @Override
     public void periodic() {
         io.updateInputs(inputs);
+        Logger.getInstance().processInputs("Arm", inputs);
 
-        io.setArmPosition(targetPosition, feedforward.calculate(inputs.armPositionRad, inputs.armVelocityRadPerSec));
+        double armffvoltage = feedforward.calculate(inputs.armPositionRad, inputs.armVelocityRadPerSec);
+        Logger.getInstance().recordOutput("ArmFFVoltage", armffvoltage);
+
+        io.setArmPosition(targetPosition, armffvoltage);
     }
 
     public double getArmPosition() {

src/main/java/frc/robot/subsystems/arm/ArmIO.java

@@ -1,6 +1,9 @@
 package frc.robot.subsystems.arm;
 
+import org.littletonrobotics.junction.AutoLog;
+
 public interface ArmIO {
+    @AutoLog
     public static class ArmInputs {
         public double armPositionRad = 0.0;
         public double armVelocityRadPerSec = 0.0;

src/main/java/frc/robot/subsystems/climber/Climber.java

@@ -1,13 +1,13 @@
 package frc.robot.subsystems.climber;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.subsystems.climber.ClimberIO.ClimberInputs;
+import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.networktables.LoggedDashboardNumber;
 
 public class Climber extends SubsystemBase {
 
     ClimberIO io;
-    ClimberInputs inputs = new ClimberInputs();
+    ClimberInputsAutoLogged inputs = new ClimberInputsAutoLogged();
 
     LoggedDashboardNumber climberStartPosition = new LoggedDashboardNumber("Climb Start Position", 32);
 
@@ -47,6 +47,11 @@ public void extendClimber() {
     @Override
     public void periodic() {
         io.updateInputs(inputs);
+        Logger.getInstance().processInputs("Climber", inputs);
+
+        Logger.getInstance().recordOutput("ClimberState", state.toString());
+        Logger.getInstance().recordOutput("ClimberTargetPower", targetPower);
+        Logger.getInstance().recordOutput("ClimberTargetPosition", targetPosition);
 
         switch (state) {
             case IDLE -> {

src/main/java/frc/robot/subsystems/climber/ClimberIO.java

@@ -1,6 +1,9 @@
 package frc.robot.subsystems.climber;
 
+import org.littletonrobotics.junction.AutoLog;
+
 public interface ClimberIO {
+    @AutoLog
     public class ClimberInputs {
         public double climberPosition = 0.0;
         public double climberVelocity = 0.0;

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -1,28 +1,31 @@
 package frc.robot.subsystems.intake;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.subsystems.intake.IntakeIO.IntakeInputs;
+import org.littletonrobotics.junction.Logger;
 
 public class Intake extends SubsystemBase {
 
     IntakeIO io;
-    IntakeInputs inputs = new IntakeInputs();
+    IntakeInputsAutoLogged inputs = new IntakeInputsAutoLogged();
 
     public Intake(IntakeIO io) {
         this.io = io;
     }
 
-    public void setPrimaryIntakeVelocity(double leftVelocity) {
-        io.setPrimaryIntakeVelocity(leftVelocity);
+    public void setPrimaryIntakeVelocity(double velocity) {
+        io.setPrimaryIntakeVelocity(velocity);
+        Logger.getInstance().recordOutput("PrimaryIntakeTargetVelocity", velocity);
     }
 
     public void setSecondaryIntakeVelocity(double velocity) {
         io.setSecondaryIntakeVelocity(velocity);
+        Logger.getInstance().recordOutput("SecondaryIntakeTargetVelocity", velocity);
     }
 
     @Override
     public void periodic() {
         io.updateInputs(inputs);
+        Logger.getInstance().processInputs("Intake", inputs);
     }
 
     public double getPrimaryIntakeVelocity() {

src/main/java/frc/robot/subsystems/intake/IntakeIO.java

@@ -1,6 +1,9 @@
 package frc.robot.subsystems.intake;
 
+import org.littletonrobotics.junction.AutoLog;
+
 public interface IntakeIO {
+    @AutoLog
     public static class IntakeInputs {
         public double primaryIntakeVoltage = 0.0;
         public double primaryIntakeCurrent = 0.0;