add GeneralUtil class

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

@@ -2,10 +2,13 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.util.GeneralUtil;
+
 import java.util.function.Supplier;
 
 public class Drive extends SubsystemBase {
   private final DriveIOReal io;
+  private final DriveIOInputsAutoLogged driveInputs = new DriveIOInputsAutoLogged();
 
   public Drive(DriveIOReal io) {
     this.io = io;
@@ -15,7 +18,7 @@ public void periodic() {
     // TODO: Logs
     // io.updateInputs(inputs);
     // Logger.processInputs("Shooter/Feeder", inputs);
-    // GeneralUtil.logSubsystem(this, "Shooter/Feeder");
+    GeneralUtil.logSubsystem(this, "Shooter/Feeder");
   }
 
   private void fullStop() {

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

@@ -0,0 +1,24 @@
+package frc.robot.util;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
+
+public abstract class GeneralUtil {
+  public static void logSubsystem(SubsystemBase s, String sName) {
+    String key = sName + "/command";
+    Logger.recordOutput(
+        key, s.getCurrentCommand() != null ? s.getCurrentCommand().getName() : "none");
+  }
+
+  public static void logFullSubsystem(SubsystemBase s, String sName) {
+    sName += "/cmdInfo/";
+    Logger.recordOutput(sName + "hasDefault", s.getDefaultCommand() != null);
+    Logger.recordOutput(
+        sName + "default",
+        s.getDefaultCommand() != null ? s.getDefaultCommand().getName() : "none");
+    Logger.recordOutput(sName + "hasCommand", s.getCurrentCommand() != null);
+    Logger.recordOutput(
+        sName + "command",
+        s.getCurrentCommand() != null ? s.getCurrentCommand().getName() : "none");
+  }
+}