Added advantage kit modes for robot.java

src/main/java/frc/robot/Constants.java

@@ -66,6 +66,14 @@ public static final class Config {
         Filesystem.getDeployDirectory().toPath().resolve("poseEstimationsAtDistances.csv");
     public static final double REAL_X = 0.0;
     public static final double REAL_Y = 0.0;
+
+    public static final advantageKitModes currentAdvMode = advantageKitModes.REAL;
+
+    public static enum advantageKitModes {
+      REAL,
+      SIM,
+      REPLAY
+    };
   }
 
   public static final class Drive {

src/main/java/frc/robot/Robot.java

@@ -40,6 +40,24 @@ public void robotInit() {
 
     Logger.getInstance().recordMetadata("ProjectName", "MyProject"); // Set a metadata value
 
+    switch (Constants.Config.currentAdvMode) {
+      case REAL:
+        // Running on a real robot, log to a USB stick
+        Logger.getInstance().addDataReceiver(new WPILOGWriter("/U"));
+        Logger.getInstance().addDataReceiver(new NT4Publisher());
+        break;
+      case SIM:
+        Logger.getInstance().addDataReceiver(new NT4Publisher());
+        break;
+      case REPLAY:
+        // Replaying a log, set up replay source
+        setUseTiming(false); // Run as fast as possible
+        String logPath = LogFileUtil.findReplayLog();
+        Logger.getInstance().setReplaySource(new WPILOGReader(logPath));
+        Logger.getInstance()
+            .addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
+        break;
+    }
     if (super.isReal()) {
       Logger.getInstance().addDataReceiver(new WPILOGWriter("/U")); // Log to a USB stick
       Logger.getInstance().addDataReceiver(new NT4Publisher()); // Publish data to NetworkTables
@@ -154,4 +172,12 @@ public void testInit() {
   public void testPeriodic() {
     // This method intentionally left empty
   }
+
+  /** This function is called once when the robot is first started up. */
+  @Override
+  public void simulationInit() {}
+
+  /** This function is called periodically whilst in simulation. */
+  @Override
+  public void simulationPeriodic() {}
 }

src/main/java/frc/robot/subsystems/DrivebaseSubsystemIO.java

@@ -17,6 +17,7 @@
 
 public interface DrivebaseSubsystemIO {
   @AutoLog
+  // This does not work
   public static class DrivebaseSubsystemIOInputs {
     public double frontLeftPositionRad = 0.0;
     public double frontLeftVelocityRadPerSec = 0.0;

src/main/java/frc/robot/subsystems/IntakeIOSim.java

@@ -0,0 +1,10 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+
+public class IntakeIOSim implements IntakeIO {
+  // Note: Intakes have no simulation feature, so this simulation class is only here as a
+  // placeholder. To see an actual simulation, go to
+  // https://github.dev/Mechanical-Advantage/RobotCode2022/blob/main/src/main/java/frc/robot/subsystems and look at the simulations that have been implemented
+  private FlywheelSim sim = new FlywheelSim(null, 0, 0);
+}