RAR1741/RA19_RobotCode

package frc.robot.loggable;

import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.SPI.Port;
import frc.robot.logging.DataLogger;
import frc.robot.logging.Loggable;

public class LoggableNavX extends AHRS implements Loggable {
  public LoggableNavX(Port spiPortId) {
    super(spiPortId);
  }

  @Override
  public void setupLogging(DataLogger logger) {
    logger.addAttribute("navx_Pitch");
    logger.addAttribute("navx_Roll");
    logger.addAttribute("navx_Yaw");
    logger.addAttribute("navx_XAcc");
    logger.addAttribute("navx_YAcc");
    logger.addAttribute("navx_ZAcc");
    logger.addAttribute("navx_Temp");
    logger.addAttribute("navx_Bar");
    logger.addAttribute("navx_Alt");
    logger.addAttribute("navx_XDis");
    logger.addAttribute("navx_YDis");
  }

  @Override
  public void log(DataLogger logger) {
    logger.log("navx_Pitch", getPitch());
    logger.log("navx_Roll", getRoll());
    logger.log("navx_Yaw", getYaw());
    logger.log("navx_XAcc", getRawAccelX());
    logger.log("navx_YAcc", getRawAccelY());
    logger.log("navx_ZAcc", getRawAccelZ());
    logger.log("navx_Temp", getTempC());
    logger.log("navx_Bar", getBarometricPressure());
    logger.log("navx_Alt", getAltitude());
    logger.log("navx_XDis", getDisplacementX());
    logger.log("navx_YDis", getDisplacementY());
  }
}