Add CTRE logging, log writer

Added logging for CTRE devices such as CANcoders.

Added a log writer that will log to a USB drive plugged into the RIO.

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

@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+import com.ctre.phoenix6.SignalLogger;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
 import edu.wpi.first.wpilibj.Timer;
@@ -12,6 +13,7 @@
 import frc.robot.Constants.HardwareConstants;
 import java.io.File;
 import java.io.IOException;
+import java.nio.file.Paths;
 import org.littletonrobotics.junction.LogFileUtil;
 import org.littletonrobotics.junction.LoggedRobot;
 import org.littletonrobotics.junction.Logger;
@@ -71,19 +73,21 @@ public void robotInit() {
         break;
     }
 
+    Logger.addDataReceiver(new NT4Publisher());
     if (isReal()) {
-      Logger.addDataReceiver(new NT4Publisher());
       LoggedPowerDistribution.getInstance(HardwareConstants.REV_PDH_ID, ModuleType.kRev);
       Logger.registerURCL(URCL.startExternal());
-    } else {
-      setUseTiming(false);
-      try {
-        String logPath = LogFileUtil.findReplayLog();
-        Logger.setReplaySource(new WPILOGReader(logPath));
-        Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
-      } catch (Exception e) {
-        e.printStackTrace();
-        Logger.addDataReceiver(new NT4Publisher());
+      if (Paths.get("/U").getParent() != null) {
+        Logger.addDataReceiver(new WPILOGWriter());
+        SignalLogger.start();
+      } else {
+        setUseTiming(false);
+        try {
+          String logPath = LogFileUtil.findReplayLog();
+          Logger.setReplaySource(new WPILOGReader(logPath));
+        } catch (Exception e) {
+          e.printStackTrace();
+        }
       }
     }
 

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

@@ -110,27 +110,27 @@ public RobotContainer() {
       DriverStation.reportError(
           "WARNING! THERE ARE CHANGES THAT CURRENTLY IS NOT COMMITTED! PLEASE COMMIT THOSE CHANGES TO GIT/GITHUB OR REVERT THOSE CHANGES!",
           false);
-      DriverStation.reportError("To see the changes, run `git status` in the terminal.", false);
+      DriverStation.reportError("To see the changes, run `git status` in the terminal", false);
       DriverStation.reportError(
-          "To commit the changes, run `git add .` to stage the changes, then run `git commit -m \"<commit message>\"` to commit the changes.",
+          "To commit the changes, run `git add .` to stage the changes, then run `git commit -m \"<commit message>\"` to commit the changes",
           false);
       DriverStation.reportError(
-          "To revert the changes, run `git reset --hard` to revert the changes. This will permanently delete those changes.",
+          "To revert the changes, run `git reset --hard` to revert the changes. This will permanently delete those changes",
           false);
       DriverStation.reportError(
-          "You can also open the GitHub Desktop application to perform these actions.", false);
-      DriverStation.reportError("Remember to push your changes after committing.", false);
+          "You can also open the GitHub Desktop application to perform these actions", false);
+      DriverStation.reportError("Remember to push your changes after committing", false);
     }
     if (!BuildConstants.GIT_BRANCH.equals("main")) {
       DriverStation.reportError(
           "WARNING! YOU ARE NOT ON THE MAIN BRANCH! PLEASE MERGE YOUR CHANGES TO MAIN OR REVERT THOSE CHANGES!",
           false);
       DriverStation.reportError(
-          "To see the current branch, run `git branch` in the terminal.", false);
+          "To see the current branch, run `git branch` in the terminal", false);
       DriverStation.reportError(
-          "To merge your changes to main, push your changes to GitHub and go to the GitHub repository and create a pull request.",
+          "To merge your changes to main, push your changes to GitHub and go to the GitHub repository and create a pull request",
           false);
-      DriverStation.reportError("Wait for the pull request to be reviewed and merged.", false);
+      DriverStation.reportError("Wait for the pull request to be reviewed and merged", false);
     }
   }