Extending the logger

In addition to the configurable logger options, DogLog also allows you to extend the logger class to add your own custom behavior. This is a great way to simplify common logging flows your team has, and reduce duplicated code in your robot projects.

This guide will walk you through the steps to create a custom logger class that allows you to add your own custom behavior. As an example, we will add in a new log() method to help log motor values.

Steps

1. Add DogLog to your project if you haven’t already:

   Install guide

2. Create a new file for your extended logger class:

   • Directorysrc

     • Directorymain

       • Directorydeploy/

         • …
       • Directoryjava/

         • Directoryfrc/

           • Directoryrobot/

             • CustomLogger.java Create this file
             • Main.java
             • Robot.java
             • RobotContainer.java

3. In the newly created file, paste the following code:

   src/main/java/frc/robot/CustomLogger.java

   package frc.robot;
   
   import com.ctre.phoenix6.hardware.TalonFX;
   import dev.doglog.DogLog;
   
   public class CustomLogger extends DogLog {
   
     public static void log(String key, TalonFX motor) {
       log(key + "/StatorCurrent", motor.getStatorCurrent().getValue());
       log(key + "/Position", motor.getPosition().getValue());
       log(key + "/Velocity", motor.getVelocity().getValue());
     }
   }

   Note

   This assumes you have the Phoenix 6 library installed.

4. Replace places where you use DogLog with CustomLogger.

   package frc.robot;
   
   import com.ctre.phoenix6.hardware.TalonFX;
   import dev.doglog.DogLog;
   
   public class ExampleClass {
   
     private final TalonFX motor = new TalonFX(1);
   
     public void logData() {
     DogLog.log("ExampleMotor/StatorCurrent", motor.getStatorCurrent().getValue());
     DogLog.log("ExampleMotor/Position", motor.getPosition().getValue());
     DogLog.log("ExampleMotor/Velocity", motor.getVelocity().getValue());
     CustomLogger.log("ExampleMotor", motor);
     }
   }