basic can logging for convenience

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

@@ -30,6 +30,7 @@
 import frc.robot.subsystems.drive.ModuleIOTalonFX;
 import frc.robot.subsystems.feeder.Feeder;
 import frc.robot.subsystems.intakeAndLauncher.IntakeAndLauncher;
+import frc.robot.util.CANHealthLogger;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -42,13 +43,16 @@ public class RobotContainer {
   private final Drive drive;
   private final IntakeAndLauncher intakeAndShooter;
   private final Feeder feederAndIndexer;
-  private final AutoFactory autoFactory;
-  public final AutoChooser autoChooser;
 
   // Controller
   private final CommandXboxController controller = new CommandXboxController(0);
   private static boolean hasRanAuto = false;
 
+  // Utility
+  private final AutoFactory autoFactory;
+  public final AutoChooser autoChooser;
+  private final CANHealthLogger canLogger;
+
   // Dashboard inputs
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
@@ -114,6 +118,7 @@ public RobotContainer() {
         this.feederAndIndexer = new Feeder();
         break;
     }
+    this.canLogger = new CANHealthLogger();
 
     // Initialize ChoreoLib AutoFactory
     autoFactory =

src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java

@@ -18,6 +18,7 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import frc.robot.generated.TunerConstants;
 import java.util.Queue;
+import org.littletonrobotics.junction.Logger;
 
 /** IO implementation for Pigeon 2. */
 public class GyroIOPigeon2 implements GyroIO {
@@ -45,10 +46,14 @@ public GyroIOPigeon2() {
 
   @Override
   public void updateInputs(GyroIOInputs inputs) {
-    inputs.connected = BaseStatusSignal.refreshAll(yaw, yawVelocity).equals(StatusCode.OK);
+    var status = BaseStatusSignal.refreshAll(yaw, yawVelocity);
+    inputs.connected = status.equals(StatusCode.OK);
     inputs.yawPosition = Rotation2d.fromDegrees(yaw.getValueAsDouble());
     inputs.yawVelocityRadPerSec = Units.degreesToRadians(yawVelocity.getValueAsDouble());
 
+    // Log CAN Bus Health
+    Logger.recordOutput("CAN/DeviceStatus/Pigeons/" + pigeon.getDeviceID(), status);
+
     inputs.odometryYawTimestamps =
         yawTimestampQueue.stream().mapToDouble((Double value) -> value).toArray();
     inputs.odometryYawPositions =

src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java

@@ -36,6 +36,7 @@
 import edu.wpi.first.units.measure.Voltage;
 import frc.robot.generated.TunerConstants;
 import java.util.Queue;
+import org.littletonrobotics.junction.Logger;
 
 /**
  * Module IO implementation for Talon FX drive motor controller, Talon FX turn motor controller, and
@@ -208,6 +209,11 @@ public void updateInputs(ModuleIOInputs inputs) {
     inputs.turnAppliedVolts = turnAppliedVolts.getValueAsDouble();
     inputs.turnCurrentAmps = turnCurrent.getValueAsDouble();
 
+    // Log CAN Bus Health
+    Logger.recordOutput("CAN/DeviceStatus/Talons/" + driveTalon.getDeviceID(), driveStatus);
+    Logger.recordOutput("CAN/DeviceStatus/Talons/" + turnTalon.getDeviceID(), turnStatus);
+    Logger.recordOutput("CAN/DeviceStatus/CANCoders/" + cancoder.getDeviceID(), turnEncoderStatus);
+
     // Update odometry inputs
     inputs.odometryTimestamps =
         timestampQueue.stream().mapToDouble((Double value) -> value).toArray();

src/main/java/frc/robot/subsystems/feeder/Feeder.java

@@ -1,16 +1,25 @@
 package frc.robot.subsystems.feeder;
 
+import com.revrobotics.REVLibError;
 import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
 
 public class Feeder extends SubsystemBase {
   private double commandedrpm;
   private SparkMax motorController = new SparkMax(2, MotorType.kBrushed);
-  //TODO: needs current limits
+  // TODO: needs current limits
+
+  @Override
+  public void periodic() {
+    // Log CAN Bus Health
+    REVLibError err = motorController.getLastError();
+    Logger.recordOutput("CAN/DeviceStatus/Sparks/" + motorController.getDeviceId(), err);
+  }
 
   public void setRPM(double launcherRPMset) {
     commandedrpm = launcherRPMset;

src/main/java/frc/robot/subsystems/intakeAndLauncher/IntakeAndLauncher.java

@@ -1,18 +1,27 @@
 package frc.robot.subsystems.intakeAndLauncher;
 
+import com.revrobotics.REVLibError;
 import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
 
 public class IntakeAndLauncher extends SubsystemBase {
   private SparkMax motorController = new SparkMax(1, MotorType.kBrushed);
   private double rotationsperminute = 1000.0;
   private boolean state = false;
   private double trackedvoltage = 0;
 
+  @Override
+  public void periodic() {
+    // Log CAN Bus Health
+    REVLibError err = motorController.getLastError();
+    Logger.recordOutput("CAN/DeviceStatus/Sparks/" + motorController.getDeviceId(), err);
+  }
+
   public void turnon() {
     state = true;
   }

src/main/java/frc/robot/util/CANHealthLogger.java

@@ -0,0 +1,29 @@
+package frc.robot.util;
+
+import com.ctre.phoenix6.CANBus;
+import edu.wpi.first.hal.can.CANStatus;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
+
+public class CANHealthLogger extends SubsystemBase {
+
+  @Override
+  public void periodic() {
+    CANStatus status = RobotController.getCANStatus();
+    Logger.recordOutput("CAN/RIO/recieveErrorCount", status.receiveErrorCount);
+    Logger.recordOutput("CAN/RIO/transmitErrorCount", status.transmitErrorCount);
+    Logger.recordOutput("CAN/RIO/txFullCount", status.txFullCount);
+    Logger.recordOutput("CAN/RIO/busOffCount", status.busOffCount);
+    Logger.recordOutput("CAN/RIO/busUtilization", status.percentBusUtilization);
+    // Battery voltage can be useful when debugging intermittent dropouts
+    Logger.recordOutput("CAN/RIO/batteryVoltage", RobotController.getBatteryVoltage());
+
+    CANBus.CANBusStatus ctreStatus = CANBus.roboRIO().getStatus();
+    Logger.recordOutput("CAN/RIOfromCTRE/recieveErrorCount", ctreStatus.REC);
+    Logger.recordOutput("CAN/RIOfromCTRE/transmitErrorCount", ctreStatus.TEC);
+    Logger.recordOutput("CAN/RIOfromCTRE/txFullCount", ctreStatus.TxFullCount);
+    Logger.recordOutput("CAN/RIOfromCTRE/busOffCount", ctreStatus.BusOffCount);
+    Logger.recordOutput("CAN/RIOfromCTRE/busUtilization", ctreStatus.BusUtilization);
+  }
+}