From d3fcf6ba820e00c8298f09733fb51fea3e8ecd46 Mon Sep 17 00:00:00 2001
From: GriffinEC2 <127626522+GriffinEC2@users.noreply.github.com>
Date: Sat, 21 Sep 2024 17:02:44 -0700
Subject: [PATCH] add GeneralUtil class

---
 .../frc/robot/subsystems/drive/Drive.java     |  5 +++-
 src/main/java/frc/robot/util/GeneralUtil.java | 24 +++++++++++++++++++
 2 files changed, 28 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc/robot/util/GeneralUtil.java

diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index 8e9d130..1ab97a4 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/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() {
diff --git a/src/main/java/frc/robot/util/GeneralUtil.java b/src/main/java/frc/robot/util/GeneralUtil.java
new file mode 100644
index 0000000..8c71c36
--- /dev/null
+++ b/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");
+  }
+}