From: moo <moogoesmeow123@gmail.com>
Date: Fri, 3 Apr 2026 17:16:03 +0000 (-0700)
Subject: remove disbaling of processinputs if logging disabled
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=a5907e0ef4900b1da684db0cac64a07fd222851a;p=FRC2026.git

remove disbaling of processinputs if logging disabled
---

diff --git a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
index 0e2aa31..80389af 100644
--- a/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
+++ b/src/main/java/frc/robot/subsystems/Climb/LinearClimb.java
@@ -165,9 +165,7 @@ public class LinearClimb extends SubsystemBase implements LinearClimbIO {
                     * ClimbConstants.WHEEL_RADIUS / ClimbConstants.CLIMB_GEAR_RATIO);
         }
         updateInputs();
-        if (!Constants.DISABLE_LOGGING) {
-            Logger.processInputs("LinearClimb", inputs);
-        }
+        Logger.processInputs("LinearClimb", inputs);
     }
 
     /**
diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java
index 340394d..2e54cd1 100644
--- a/src/main/java/frc/robot/subsystems/Intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java
@@ -211,9 +211,7 @@ public class Intake extends SubsystemBase implements IntakeIO{
         }
 
         updateInputs();
-        if (!Constants.DISABLE_LOGGING) {
-            Logger.processInputs("Intake", inputs);
-        }
+        Logger.processInputs("Intake", inputs);
 
         if (!Constants.DISABLE_SMART_DASHBOARD) {
             SmartDashboard.putBoolean("Intake Calibrated", !calibrating);
diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index bb54ac8..425d86d 100644
--- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@ -202,9 +202,7 @@ public class Drivetrain extends SubsystemBase {
     public void periodic() {
         odometryLock.lock(); // Prevents odometry updates while reading data
         gyroIO.updateInputs(gyroInputs);
-        if (!Constants.DISABLE_LOGGING) {
-            Logger.processInputs("Drive/Gyro", gyroInputs);
-        }
+        Logger.processInputs("Drive/Gyro", gyroInputs);
         for (var module : modules) {
             module.periodic();
         }
@@ -832,4 +830,4 @@ public class Drivetrain extends SubsystemBase {
                 state, state, state, state
         }, false);
     }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Module.java b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
index 4ff8670..f9db325 100644
--- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
@@ -210,9 +210,7 @@ public class Module implements ModuleIO{
     
     public void periodic() {
         updateInputs();
-        if (!Constants.DISABLE_LOGGING) {
-            Logger.processInputs("Drive/Module" + Integer.toString(moduleConstants.ordinal()), inputs);
-        }
+        Logger.processInputs("Drive/Module" + Integer.toString(moduleConstants.ordinal()), inputs);
 
          // Calculate positions for odometry
         int sampleCount = inputs.odometryTimestamps.length; // All signals are sampled together
@@ -452,4 +450,4 @@ public class Module implements ModuleIO{
         return inputs.odometryTimestamps;
     }
 
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/subsystems/hood/Hood.java b/src/main/java/frc/robot/subsystems/hood/Hood.java
index bbc3010..102d949 100644
--- a/src/main/java/frc/robot/subsystems/hood/Hood.java
+++ b/src/main/java/frc/robot/subsystems/hood/Hood.java
@@ -106,9 +106,7 @@ public class Hood extends SubsystemBase implements HoodIO {
     @Override
     public void periodic() {
 		updateInputs();
-		if (!Constants.DISABLE_LOGGING) {
-			Logger.processInputs("Hood", inputs);
-		}
+		Logger.processInputs("Hood", inputs);
 
 		// goalAngle = Rotation2d.fromDegrees(SmartDashboard.getNumber("Hood Setpoint", goalAngle.getDegrees()));
 		// SmartDashboard.putNumber("Hood Setpoint", goalAngle.getDegrees());
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 376de5d..7acdde0 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -142,9 +142,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         inputs.shooterCurrentRight = shooterMotorRight.getStatorCurrent().getValueAsDouble();
 
 
-        if (!Constants.DISABLE_LOGGING) {
-            Logger.processInputs("Shooter", inputs);
-        }
+        Logger.processInputs("Shooter", inputs);
     }
 
     public void bumpUpShooterModifier() {
diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index 9825fb8..7e155c5 100644
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -53,9 +53,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
     @Override
     public void periodic() {
         updateInputs();
-        if (!Constants.DISABLE_LOGGING) {
-            Logger.processInputs("Spindexer", inputs);
-        }
+        Logger.processInputs("Spindexer", inputs);
 
         if (resetPos == null) {
             motor.setPosition(0.1 * gearRatio);
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index e23dfb9..9a56b9d 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -162,9 +162,7 @@ public class Turret extends SubsystemBase implements TurretIO{
 	@Override
 	public void periodic() {
 		updateInputs();
-		if (!Constants.DISABLE_LOGGING) {
-			Logger.processInputs("Turret", inputs);
-		}
+		Logger.processInputs("Turret", inputs);
 
 		// Position extrapolation
 		double lookAheadSeconds = TurretConstants.EXTRAPOLATION_TIME_CONSTANT; 
@@ -230,9 +228,7 @@ public class Turret extends SubsystemBase implements TurretIO{
 		ligament.setAngle(Units.radiansToDegrees(getPositionRad()));
 
 		updateInputs();
-		if (!Constants.DISABLE_LOGGING) {
-			Logger.processInputs("Turret", inputs);
-		}
+		Logger.processInputs("Turret", inputs);
 
 		if (!Constants.DISABLE_SMART_DASHBOARD) {
 			SmartDashboard.putNumber("Turret position", Units.radiansToDegrees(getPositionRad()));
diff --git a/src/main/java/frc/robot/util/Vision/Vision.java b/src/main/java/frc/robot/util/Vision/Vision.java
index 01825bc..d17bdd2 100644
--- a/src/main/java/frc/robot/util/Vision/Vision.java
+++ b/src/main/java/frc/robot/util/Vision/Vision.java
@@ -549,9 +549,7 @@ public class Vision {
       inputs.connected = camera.isConnected();
       inputs.results = camera.getAllUnreadResults();
 
-      if (!Constants.DISABLE_LOGGING) {
-        Logger.processInputs("Vision/"+camera.getName(), inputs);
-      }
+      Logger.processInputs("Vision/"+camera.getName(), inputs);
 
       // Mechanical Advantage's vision logging
       // // Read new camera observations