From 88153923d5a57b291eaaee4d7066beed09272689 Mon Sep 17 00:00:00 2001
From: Tyler Wilcox <tyler@tywilly.com>
Date: Sat, 11 Apr 2026 13:35:00 -0400
Subject: [PATCH] PathPlanner Logging

---
 src/main/java/frc/robot/subsystems/DriveSubsystem.java | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/main/java/frc/robot/subsystems/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
index 85b5c8e..15ee203 100644
--- a/src/main/java/frc/robot/subsystems/DriveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/DriveSubsystem.java
@@ -15,6 +15,7 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+import com.pathplanner.lib.util.PathPlannerLogging;
 
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -180,6 +181,9 @@ public class DriveSubsystem extends TestableSubsystem {
             autoChooser.setDefaultOption("Do Nothing", Commands.none());
             SmartDashboard.putData("Auto Chooser", autoChooser);
 
+            // PathPlannerLogging.setLogActivePathCallback((List<Pose2d> pose) -> {});
+            PathPlannerLogging.setLogTargetPoseCallback((Pose2d targetPose) -> { Logger.recordOutput("PathPlanner-TargetPose", targetPose);});
+
         } catch (Exception e) {
             e.printStackTrace();
         }