AdvantageScope

Data visualization for robot debugging.

What Is AdvantageScope?

AdvantageScope is XBot's primary data visualization tool. It replaces Shuffleboard for viewing robot data during matches.

What It Shows

• Robot pose on the field
• Swerve module states (angles and speeds)
• Sensor values (gyro, encoders, lasers)
• Mechanism positions (elevator height, hood angle)
• Match log replay

Viewing Logs

Downloading Logs

Logs are saved to /home/lvuser/logs/ on the roboRIO.

Windows:

.\fetch-logs.ps1

macOS/Linux:

scp admin@roboRIO-488-frc.local:/home/lvuser/logs/*.log ./logs/

Opening Logs

1. Open AdvantageScope
2. Go to File > Open
3. Select the .log file

AdvantageKit Logging

XBot uses AdvantageKit for structured logging in subsystems:

// In subsystem periodic()
aKitLog.record("CurrentVelocity", this.getCurrentValue());
aKitLog.record("TargetVelocity", targetVelocity);
aKitLog.record("IsAtGoal", isMaintainerAtGoal());
aKitLog.record("CurrentPose", pose);

Logged data appears in AdvantageScope under the subsystem's prefix.

Key Views

View	Use For
Field	Robot position, path visualization
Swerve	Individual module states
3D	Robot mechanism visualization
Graph	Time-series data (velocity, position, etc.)
Table	Raw data table view

Tips

• Record logs during every practice match
• Compare logs between good and bad runs
• Use the graph view to tune PID values
• Export data as CSV for further analysis