2026 Rebuilt - AdvantageKit Logging Reference Quick reference for all Logger.recordOutput() keys. Open these in AdvantageScope to troubleshoot.
Key
Type
What it tells you
Drive/PosePose2d
Current robot pose from odometry
Odometry/RobotPose2d
Same as Drive/Pose (duplicate for AdvantageScope field widget)
Drive/HeadingRotation2d
Current robot heading
Drive/OdometryHeadingRotation2d
Heading from the pose (should match Drive/Heading)
Drive/GyroYawRotation2d
Raw gyro yaw
Drive/GyroPitchRotation2d
Raw gyro pitch
Drive/GyroRollRotation2d
Raw gyro roll
Drive/GyroRotation3dRotation3d
Full 3D gyro orientation
Key
Type
What it tells you
Drive/RobotVelocityChassisSpeeds
Measured velocity in robot frame
Drive/FieldVelocityChassisSpeeds
Measured velocity in field frame
Drive/CommandedRobotVelocityChassisSpeeds
What we told the drivebase to do (robot frame)
Drive/CommandedFieldVelocityChassisSpeeds
What we told the drivebase to do (field frame)
Drive/CommandedOmegadouble
Commanded rotational rate (rad/s). Should be ~0 with no turn input
Drive/ActualOmegadouble
Measured rotational rate (rad/s). Compare with commanded to check responsiveness
Key
Type
What it tells you
Drive/CurrentModuleStatesSwerveModuleState[]
Actual speed + angle of each module
Drive/DesiredModuleStatesSwerveModuleState[]
What we commanded each module to do
Drive/ModulePositionsSwerveModulePosition[]
Drive distance + angle for each module
Key
Type
What it tells you
Drive/Aim/DynamicHubPosePose2d
Velocity-compensated hub aim point. Overlay on field to see SOTM lead
Drive/Aim/StaticHubPosePose2d
Actual hub position. Compare with dynamic to see how much lead is applied
Drive/Aim/TargetAngleDegdouble
Desired robot heading to face the compensated hub
Drive/Aim/CurrentHeadingDegdouble
Actual robot heading. Compare with target to sanity check error
Drive/Aim/ErrorDegHubdouble
Degrees off from hub aim target. Should converge to ~0 when aiming. If not, PID tuning issue
Drive/Aim/DistanceToHubMdouble
Distance to compensated hub. Correlate with shot accuracy to validate TOF table
Drive/Aim/RobotVelXdouble
Field-relative X velocity (m/s). If SOTM lead looks wrong, check for noisy velocity
Drive/Aim/RobotVelYdouble
Field-relative Y velocity (m/s)
Drive/Aim/IsLockedboolean
If true, SOTM is bypassed and static hub pose is used
Key
Type
What it tells you
Drive/Aim/DynamicFerryPosePose2d
Velocity-compensated ferry aim point. Overlay on field to verify correct ferry spot
Drive/Aim/ErrorDegFerrydouble
Degrees off from ferry aim target. Same use as hub error
Drive/Aim/DistanceToFerryMdouble
Distance to ferry target. Useful if passes fall short or overshoot
Key
Type
What it tells you
Drive/Auto/TargetPathPosePose2d
Where PathPlanner wants the robot to be right now
Drive/Auto/PathFollowingErrorMdouble
Distance (m) between robot and path target. Graph to see when error spikes
Drive/Auto/IsOffPathboolean
True when error > 0.15m. This is when followWithRecovery switches to recovery path
Auto/CurrentPathString
Name of the PathPlanner path currently executing. Changes to recovery path name when recovery fires
Auto/RecoveryPathString
Name of the configured recovery path for the current segment
Auto/RecoveryTriggeredboolean
Flips to true when the robot actually takes the recovery branch (not just off-path)
Auto/PathLoadErrorString
Error message if a path file fails to load. Empty normally — if populated, that auto segment returned Commands.none()
Auto/ShootingAttemptedboolean
True when makeAutoShootCommand fires during auto
Auto/InAllianceZoneboolean
Which branch auto shooting took — true = shoot at hub, false = no-op
Key
Type
What it tells you
Shooter/Right1RPMdouble
Right flywheel 1 speed
Shooter/Right2RPMdouble
Right flywheel 2 speed
Shooter/Left1RPMdouble
Left flywheel 1 speed
Shooter/Left2RPMdouble
Left flywheel 2 speed
Shooter/TargetRPMdouble
Commanded flywheel RPM. Compare with actual to check spin-up time
Shooter/TargetKickerRPMdouble
Commanded kicker RPM
Shooter/Right1AppliedVoltsdouble
Voltage applied to right motor 1
Shooter/Right2AppliedVoltsdouble
Voltage applied to right motor 2
Shooter/Left1AppliedVoltsdouble
Voltage applied to left motor 1
Shooter/Left2AppliedVoltsdouble
Voltage applied to left motor 2
Shooter/KickerLeftRPMdouble
Left kicker actual speed
Shooter/KickerRightRPMdouble
Right kicker actual speed
Shooter/KickerLeftAppliedVoltsdouble
Voltage applied to left kicker
Shooter/KickerRightAppliedVoltsdouble
Voltage applied to right kicker
Shooter/LUTCurrentTargetRPMdouble
RPM from the lookup table for current distance
Shooter/LUTDistancedouble
Distance used for the LUT lookup
Key
Type
What it tells you
Intake/DesiredPercentdouble
Commanded intake percent output
Intake/AppliedVoltsdouble
Actual voltage to intake motor
IntakeRightRPMdouble
Right intake roller speed
IntakeLeftRPMdouble
Left intake roller speed
IntakeTargetRPMdouble
Target intake RPM from constants
Key
Type
What it tells you
Hopper/PushdownDesiredPercentdouble
Commanded pushdown (right twindexer) percent
Hopper/TransferDesiredPercentdouble
Commanded transfer (left twindexer) percent
Hopper/TwindexerRightMotordouble
Right twindexer applied output
Hopper/TwindexerLeftMotordouble
Left twindexer applied output
Key
Type
What it tells you
Pushout/DesiredPercentdouble
Commanded pushout percent output
Key
Type
What it tells you
ObjectDetection/PipelineHasTargetsboolean
Whether the camera sees any game pieces
ObjectDetection/TargetPoseTransform3d
Best camera-to-target transform
ObjectDetection/AlignToFuelPosePose2d
Computed pose to drive to for pickup
Shooting Sequence (RT Command) These log the state of the RT shooting/passing sequence — the gates that control when feeding starts and stops.
Key
Type
What it tells you
Shooting/RTHeldboolean
Whether the driver right trigger is pressed
Shooting/InAllianceZoneboolean
Which branch was taken — true = shooting at hub, false = passing to ferry
Shooting/AimLock1Degboolean
True when aim error is within 1 deg of hub. This is the gate for feeding to start
Shooting/AimLock3Degboolean
True when aim error is within 3 deg of hub. Feeding stops if this goes false
Shooting/FerryAimLock3Degboolean
True when aim error is within 3 deg of ferry target. Gate for ferry feeding
Key
Type
What it tells you
Input/Driver/LeftXdouble
Left stick X axis
Input/Driver/LeftYdouble
Left stick Y axis
Input/Driver/RightXdouble
Right stick X axis
Input/Driver/RightYdouble
Right stick Y axis
Input/Driver/LeftTriggerdouble
Left trigger axis (0-1)
Input/Driver/RightTriggerdouble
Right trigger axis (0-1)
Key
Type
What it tells you
Input/Operator/LeftXdouble
Left stick X axis
Input/Operator/LeftYdouble
Left stick Y axis
Input/Operator/RightXdouble
Right stick X axis
Input/Operator/RightYdouble
Right stick Y axis
Input/Operator/LeftTriggerdouble
Left trigger axis (0-1)
Input/Operator/RightTriggerdouble
Right trigger axis (0-1)
Aim logs only appear when RT is held (isAiming = true). If you don't see Drive/Aim/ keys updating, the aim command isn't running.Auto recovery logs run always during auto and teleop.All Drive/ logs come from SwerveSubsystem.periodic(). All Shooter/ logs come from Shooter.periodic(). Controller input logs come from RobotContainer.
Symptom
What to check
What it means
Robot drifting when driving straight
Drive/CommandedOmega should be ~0, check Drive/ActualOmegaIf actual omega is nonzero with zero commanded, heading correction may be off or gyro is drifting
Robot not driving at full speed
Drive/CommandedFieldVelocity vs Drive/FieldVelocityIf commanded is low, check for scaleTranslation. If actual is low but commanded is high, mechanical issue
Odometry jumping
Drive/Pose on field view, check for sudden teleportsVision measurement with bad data got accepted. Check Limelight rejection thresholds
Modules fighting each other
Drive/CurrentModuleStates vs Drive/DesiredModuleStatesIf angles are far apart, module PID tuning issue or encoder offset wrong
Symptom
What to check
What it means
Aim lagging behind while moving
Check if aimLookahead is set in AimAtHub. Graph ErrorDegHub
Without lookahead, aim chases current position instead of leading. Should have 0.2s lookahead
Aim oscillating, never settling
Graph ErrorDegHub — if it bounces +/- degrees
Heading PID gains too aggressive, or aimFeedforward values need tuning
Aim not tracking at all
Check Drive/Aim/DynamicHubPose exists in log
If missing, isAiming is false — AimAtHub isn't running. Check command scheduling
SOTM lead looks wrong
Compare DynamicHubPose vs StaticHubPose on field view
Lead should point opposite to robot velocity. If not, check RobotVelX/RobotVelY for noisy readings
Aim stops when shooter reaches speed
Check if AimAtHub gets interrupted in command scheduler
lockCommand or another drivebase command may be taking over. AimAtHub should hold drivebase the entire time
Shots missing at distance
Graph DistanceToHubM and correlate with Shooter/LUTDistance
If they don't match, the shooter RPM lookup is using a different distance than the aim system
IsLocked is true unexpectedlyCheck Drive/Aim/IsLocked
When locked, SOTM is bypassed and static hub pose is used. Robot must be stationary (no sticks) for this
Symptom
What to check
What it means
Nothing happens when RT pressed
Shooting/RTHeld should be trueIf false, trigger not registering. If true, check Shooting/InAllianceZone — may have taken wrong branch
Shooter spins but never feeds
Shooting/AimLock1Deg — is it ever true?Feeding waits for shooter at speed AND aim within 1 deg. If aim never locks, check ErrorDegHub
Feeding starts then immediately stops
Shooting/AimLock3Deg — does it flicker?Feeding has a 3 deg onlyWhile gate. If aim oscillates around 3 deg, feeding cuts in and out
Shooting when not aimed at hub
Shooting/AimLock1Deg should be false until aimedIf true when not aimed, the aimLock threshold may be too loose or the error calculation is wrong
Passing not working in opponent zone
Shooting/InAllianceZone should be falseIf true, robot thinks it's in alliance zone. Check zone boundary thresholds (182in blue, 469in red)
Ferry feeding cuts out
Shooting/FerryAimLock3Deg — is it stable?Same as hub — if aim oscillates near 3 deg, feeding stops. May need wider threshold
Symptom
What to check
What it means
Shooter not spinning up
Shooter/TargetRPM — is it nonzero?If zero, the shoot command isn't running. If nonzero, check AppliedVolts — motor may not be responding
Shooter slow to reach speed
Graph Shooter/TargetRPM vs actual RPMs over time
Large gap = PID too slow, voltage sag, or mechanical drag
Left/Right shooter mismatch
Compare Left1RPM/Left2RPM vs Right1RPM/Right2RPM
If one side lags, check for mechanical binding or motor issue on that side
Kicker not feeding
Shooter/KickerLeftRPM and KickerRightRPM should be nonzeroIf zero, kicker command isn't running. Check the shooting sequence composition
Shots inconsistent at same distance
Shooter/LUTCurrentTargetRPM should be stableIf RPM fluctuates, the distance reading is noisy — check LUTDistance
Symptom
What to check
What it means
Intake not running
Intake/DesiredPercent — should be nonzero when commandedIf zero, command isn't reaching the intake. If nonzero but AppliedVolts is zero, motor issue
Fuel not transferring to shooter
Hopper/TransferDesiredPercent and Hopper/PushdownDesiredPercentBoth should be nonzero during the feed sequence
Fuel jamming
Check if Pushout/DesiredPercent is cycling (agitate)
If not, the agitate command may not be running in the shooting sequence
Symptom
What to check
What it means
Recovery triggering too early
Graph PathFollowingErrorM — what's the normal tracking error?
If it regularly hits 0.12-0.14m during normal runs, the 0.15m threshold is too tight. Increase to 0.2-0.25m
Recovery not triggering when knocked
IsOffPath should flip true when hitIf it stays false, the threshold is too loose or targetPathPose isn't updating (check configurePathPlannerLogging)
Recovery flickering
IsOffPath rapidly toggles true/falseRobot is hovering at the threshold boundary. Need hysteresis or a wider threshold
Robot recovers but ends up in wrong spot
Overlay TargetPathPose and Drive/Pose on field view
Recovery path may not end where the next auto step expects. Check recovery path endpoints
Auto segment does nothing
Check Auto/PathLoadError for an error message
If populated, the path file failed to load and the segment silently returned a no-op. Verify path file names in PathPlanner
Can't tell if recovery actually fired
Check Auto/RecoveryTriggered — should flip true
IsOffPath can be true without recovery running (e.g., checked twice). RecoveryTriggered confirms the recovery branch was taken
Don't know which path is running
Check Auto/CurrentPath — updates at each segment start
Changes from main path name to recovery path name when recovery fires. Correlate with RecoveryTriggered
Auto shooting not firing
Check Auto/ShootingAttempted and Auto/InAllianceZone
If ShootingAttempted is true but InAllianceZone is false, robot thinks it's outside alliance zone — check zone boundaries
Symptom
What to check
What it means
Robot not responding to sticks
Check Input/Driver/LeftX, LeftY, RightX
If values change with sticks, the issue is downstream. If stuck at 0, controller not connected or wrong port
Wrong controller is driving
Compare Input/Driver/ vs Input/Operator/ values while pressing sticks
Controller may be assigned to wrong role. Check the driver/operator chooser