Fix PathPlanner trajectory logging in sim#25
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- Store the active PathPlanner path in a lastTrajectory field (updated by the callback) instead of calling Logger.recordOutput directly from the callback - Log Odometry/Trajectory every periodic() loop for AdvantageKit compatibility - Only update lastTrajectory when the incoming path is non-empty, so the plot persists in AdvantageScope after the path command ends - Removes unused setLogTargetPoseCallback / Odometry/TrajectorySetpoint Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
nlaverdure
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Jul 24, 2026
- Store the active PathPlanner path in a lastTrajectory field (updated by the callback) instead of calling Logger.recordOutput directly from the callback - Log Odometry/Trajectory every periodic() loop for AdvantageKit compatibility - Only update lastTrajectory when the incoming path is non-empty, so the plot persists in AdvantageScope after the path command ends - Removes unused setLogTargetPoseCallback / Odometry/TrajectorySetpoint Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>
nlaverdure
added a commit
that referenced
this pull request
Jul 24, 2026
- Store the active PathPlanner path in a lastTrajectory field (updated by the callback) instead of calling Logger.recordOutput directly from the callback - Log Odometry/Trajectory every periodic() loop for AdvantageKit compatibility - Only update lastTrajectory when the incoming path is non-empty, so the plot persists in AdvantageScope after the path command ends - Removes unused setLogTargetPoseCallback / Odometry/TrajectorySetpoint Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
lastTrajectoryfield (updated by the callback) instead of callingLogger.recordOutputdirectly from the callbackOdometry/Trajectoryeveryperiodic()loop for AdvantageKit compatibilitylastTrajectorywhen the incoming path is non-empty, so the plot persists in AdvantageScope after the path command endssetLogTargetPoseCallback/Odometry/TrajectorySetpointReplicates TripleHelixProgramming/Rebuilt#193.
Test plan
Odometry/Trajectoryappears in AdvantageScope🤖 Generated with Claude Code