Added kotlin support and docs

docs/docs/common-issues/kotlin-support.md

@@ -0,0 +1,118 @@
+---
+sidebar_position: 5
+---
+
+# Kotlin Support
+
+Although advantagekit supports kotlin out of the box, there are a couple of features that do not work within kotlin files.
+
+## @AutoLogOutput
+
+Kotlin singletons(or objects) must be registered through a ```AutoLogOutput.addObject(this)``` call within the constructor. For instance:
+```
+object SomeSingleton {
+    init {
+        AutoLogOutput.addObject(this)
+    }
+
+    @AutoLogOutput
+    fun getValue() = 2.0
+}
+```
+
+## @AutoLog
+
+If your team plans to use @AutoLog, it is recommended to paste the code below into a kotlin file named "AdvantageKitExtensions.kt"
+(preferrably located within a "lib" or "util" folder of your robot code):
+
+```kt
+package your.lib.folder
+
+import edu.wpi.first.units.Measure
+import edu.wpi.first.units.MutableMeasure
+import edu.wpi.first.util.struct.Struct
+import edu.wpi.first.util.struct.StructSerializable
+import org.littletonrobotics.junction.AutoLogOutputManager
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
+import kotlin.reflect.KProperty
+import edu.wpi.first.units.Unit as WPIUnit
+
+abstract class AutoLogInputs: LoggableInputs {
+    fun log(value: Double, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun log(value: Int, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun log(value: String, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun log(value: Boolean, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun log(value: Long, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun <T: StructSerializable> log(value: T, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun <T> log(value: T, struct: Struct<T>, key: String? = null) =
+        LoggedInput(value, key, {k,v -> put(k, struct, v)}, {k,v -> get(k, struct, v)})
+    fun <U: WPIUnit> log(value: Measure<U>, key: String? = null) =
+        LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun <U: WPIUnit, Base: Measure<U>, M: MutableMeasure<U, Base, M>> log(value: M, key: String? = null) =
+        LoggedInput(value, key, LogTable::put, LogTable::get)
+
+    fun log(value: DoubleArray, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun log(value: IntArray, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun log(value: Array<String>, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun log(value: BooleanArray, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun log(value: LongArray, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+    fun <T: StructSerializable> log(value: Array<T>, key: String? = null) = LoggedInput(value, key, LogTable::put, LogTable::get)
+
+    private val toLogRunners = mutableListOf<(LogTable) -> Unit>()
+    private val fromLogRunners = mutableListOf<(LogTable) -> Unit>()
+
+    inner class LoggedInput<T>(
+        private var value: T,
+        private val name: String? = null,
+        private val toLog: LogTable.(String, T) -> Unit,
+        private val fromLog: LogTable.(String, T) -> T,
+    ) {
+        operator fun getValue(thisRef: Any, property: KProperty<*>) = value
+        operator fun setValue(thisRef: Any, property: KProperty<*>, value: T) { this.value = value }
+
+        operator fun provideDelegate(thisRef: Any, property: KProperty<*>): LoggedInput<T> {
+            val namespace = this.name ?: property.name
+            toLogRunners.add { logTable -> this.toLog(logTable, namespace, value) }
+            fromLogRunners.add { logTable -> value = this.fromLog(logTable, namespace, value) }
+            return this
+        }
+    }
+
+    override fun fromLog(table: LogTable) {
+        fromLogRunners.forEach { it(table) }
+    }
+
+    override fun toLog(table: LogTable) {
+        toLogRunners.forEach { it(table) }
+    }
+}
+```
+
+This base class gives a replacement for the @AutoLog annotation for kotlin.
+
+Here is an example of using auto-logged inputs in kotlin:
+```kt
+class ArmInputs: AutoLogInputs() {
+    var angle by log(Rotation2d())
+    var voltage by log(Volts.mutable(0.0), "ArmVoltage")
+    var statorCurrent by log(Amps.mutable(2.0))
+}
+
+interface ArmIO {
+    fun updateInputs(inputs: ArmInputs) {}
+    fun setVoltage(volts: Voltage) {}
+}
+
+class Arm: SubsystemBase() {
+    private val inputs = ArmInputs()
+    private val io: ArmIO = ArmIOImpl()
+
+    override fun periodic() {
+        io.updateInputs(inputs)
+        Logger.processInputs("Arm", inputs)
+    }
+}
+```
+
+

docs/docs/legal/privacy-policy.md

@@ -6,7 +6,7 @@ sidebar_position: 2
 
 AdvantageKit is a volunteer-run project that is owned and published by the Littleton STEM Educational Foundation ("Littleton Robotics"), a non-profit organization based in the United States.
 
-_This policy was last modified on October 9th, 2024._
+_This policy was last modified on November 1st, 2024._
 
 ## Information We Collect
 
@@ -16,6 +16,8 @@ Littleton Robotics does not collect data from users of the AdvantageKit library
 
 The AdvantageKit code repository, Maven repository, and documentation site are hosted by GitHub, which publishes a [privacy policy](https://docs.github.com/en/site-policy/privacy-policies/github-general-privacy-statement) that applies when interacting with these services.
 
+The search feature of the AdvantageKit documentation uses Algolia, which publishes a [privacy policy](https://www.algolia.com/policies/privacy/) that applies when interacting with this service.
+
 ## Contact
 
 Questions about this policy can be directed to software@team6328.org.

docs/docs/recording-inputs/io-interfaces.md

@@ -42,14 +42,14 @@ All of the IO methods include a default implementation which is used during simu
 public RobotContainer() {
     if (isReal()) {
         // Instantiate IO implementations to talk to real hardware
-        driveTrain = new DriveTrain(DriveTrainIOReal());
-        elevator = new Elevator(ElevatorIOReal());
-        intake = new Intake(IntakeIOReal());
+        driveTrain = new DriveTrain(new DriveTrainIOReal());
+        elevator = new Elevator(new ElevatorIOReal());
+        intake = new Intake(new IntakeIOReal());
     } else {
         // Use anonymous classes to create "dummy" IO implementations
-        driveTrain = new DriveTrain(DriveTrainIO() {});
-        elevator = new Elevator(ElevatorIO() {});
-        intake = new Intake(IntakeIO() {});
+        driveTrain = new DriveTrain(new DriveTrainIO() {});
+        elevator = new Elevator(new ElevatorIO() {});
+        intake = new Intake(new IntakeIO() {});
     }
 }
 ```

docs/docusaurus.config.ts

@@ -80,6 +80,11 @@ const config: Config = {
       theme: prismThemes.github,
       darkTheme: prismThemes.dracula,
       additionalLanguages: ["java"]
+    },
+    algolia: {
+      appId: "7JW2R5AY94",
+      apiKey: "34dce56eab484e7f5d69f9a71f44f3eb",
+      indexName: "advantagekit"
     }
   } satisfies Preset.ThemeConfig
 };