Logging

FollowPath exposes optional static logging hooks so you can stream internal state to your logger (for example, AdvantageKit). Each hook receives a Pair<String, T> where the key identifies the metric and the value carries the data.

Consumer-Based Logging

Register any combination of the logging consumers before running commands:

FollowPath.setDoubleLoggingConsumer(pair -> {
    Logger.recordOutput(pair.getFirst(), pair.getSecond());
});

FollowPath.setBooleanLoggingConsumer(pair -> {
    Logger.recordOutput(pair.getFirst(), pair.getSecond());
});

FollowPath.setPoseLoggingConsumer(pair -> {
    Logger.recordOutput(pair.getFirst(), pair.getSecond());
});

FollowPath.setTranslationListLoggingConsumer(pair -> {
    Logger.recordOutput(pair.getFirst(), pair.getSecond());
});

Common keys include:

• FollowPath/pathTranslations
• FollowPath/robotTranslations
• FollowPath/crossTrackError
• FollowPath/targetRotation