Advanced Features

@AutoLogOutput – Periodic Logging of Fields and Methods

The @AutoLogOutput annotation is used to periodically log the output of a field or method.

This is especially useful for:

• Continuously logging the value of a pose, variable, or calculation that changes over time.
• Logging static fields and static methods that are not in an @AutoLog class.
• Logging a method periodically even if it is already in an @AutoLog class.

📌 Key Difference from @AutoLog:
When using @AutoLog, fields are logged periodically by default, but methods are only logged when explicitly called.
With @AutoLogOutput, both fields and methods are logged automatically at regular intervals, even if the method is not being called.

This makes @AutoLogOutput a powerful tool for continuously tracking critical data points that may not be actively accessed during execution.

Example: Periodic logging of fields and methods with @AutoLogOutput

Logging Robot Pose

The Koala logger includes a convenient function for logging your robot's pose in the Pose2d format, making it easy to visualize the robot's position and orientation within AdvantageScope's 2D or 3D field views.

To log the robot's pose, simply call:

KoalaLog.logPose2d("pose", x, y, heading, true);

• "pose" is the name of the log entry.
• x, y are the robot's coordinates (in meters).
• heading is the rotation angle (in radians).
• true posts it to the FTC Dashboard (currently as a string; full pose on the field coming soon)

Once logged, your robot's position will be rendered in real-time within AdvantageScope, either on a flat field map or in 3D mode, allowing for intuitive debugging and performance analysis.

Example: Visualizing robot pose in AdvantageScope