Don't see NT:/URCL

[Joel_Singh]

Hi, I’m trying to calculate feedforward gains for a flywheel.
I ran my sysid routine, download on the data logger tool, put it into advantage scope, export it as wpilog from ascope, put it into sysid and I dragged the sys-id-test-state-Shooter into the data selector.

For the other parts, voltage, position, and velocity. I don’t see NT:/URCL whatsoever to drag NT:/URCL//MotorPositionRotations, NT:/URCL//MotorVelocityRPM, and NT:/URCL//AppliedOutputVoltage into the data selector

I run dataLogger and urcl at robotInit:

  @Override
  public void robotInit() {
      DataLogManager.start();
      URCL.start();
  }

And here is how I create my test:

    public Command sysIdQuasistaticForRight(SysIdRoutine.Direction direction) {
        SysIdRoutine sysIdRoutine = new SysIdRoutine(
            new SysIdRoutine.Config(),
            new SysIdRoutine.Mechanism(
                (voltage) -> right.setVoltage(voltage.in(Volts)),
                null, // No log consumer, since data is recorded by URCL
                this
            )
        );

        // The methods below return Command objects
        return sysIdRoutine.quasistatic(direction);
    }

What am I doing wrong to make NT:URCL not appear? Thanks in advance.

[Will_Toth]

Make sure you have the latest version of advantage scope (3.0.2) and URCL (2024.1.0)

[firesbane13]

We’re seeing similar issues as this post. We double checked and our versions are the same as you listed. What information can we provide to help solve our issue?

[Will_Toth]

Found that initialization order/timing could cause this. Moving the initialization out of RobotContainer.java and moving it to early in robotInit in Robot.java resolved the issue.

[firesbane13]

Our initialization of the DataLogManager and URCL is in robotInit()

  public void robotInit() {
    DataLogManager.start();
    URCL.start();
    
    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
    // autonomous chooser on the dashboard.
    m_robotContainer = new RobotContainer();
  }

Are you talking about the initialization of our system identification routine? Currently, that is here:

  public RobotContainer() {
    // Configure the trigger bindings
    configureBindings();
    controller0.button(Constants.buttonList.x).toggleOnTrue(motorTestCMD);

    // Create the SysId routine
    SysIdRoutine sysIdRoutine = new SysIdRoutine(
      new SysIdRoutine.Config(),
      new SysIdRoutine.Mechanism(
        (voltage) -> this.motorSubsystem.runVolts(voltage.in(Volts)),
        null, // No log consumer, since data is recorded by URCL
        this.motorSubsystem
      )
    );

I want to make sure I understand what initialization you are referring too.