commit 1bce5770fc1eb437ff08d4b0744e5e5323377917
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 08 22:13:50 2020 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sun Mar 08 23:06:50 2020 -0700
tree 3b7629cede17740052f04d75733ed27342ebd212
parent a573df154b900b6618d0b46f8d2635a8dba1082f

Reduce excessive AOS_LOG's

Also, increase the message rate for the log message channel.

Change-Id: Ic5608717458f972a44ea97b5c95de22b0b9663fd

frc971/control_loops/drivetrain/trajectory.cc

diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index 4da3dee..70ceb1a 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -538,15 +538,11 @@
     // collect more info about when this breaks down from logs.
     K = ::Eigen::Matrix<double, 2, 5>::Zero();
   }
-  ::Eigen::EigenSolver<::Eigen::Matrix<double, 5, 5>> eigensolver(A - B * K);
-  const auto eigenvalues = eigensolver.eigenvalues();
-  AOS_LOG(DEBUG,
-          "Eigenvalues: (%f + %fj), (%f + %fj), (%f + %fj), (%f + %fj), (%f + "
-          "%fj)\n",
-          eigenvalues(0).real(), eigenvalues(0).imag(), eigenvalues(1).real(),
-          eigenvalues(1).imag(), eigenvalues(2).real(), eigenvalues(2).imag(),
-          eigenvalues(3).real(), eigenvalues(3).imag(), eigenvalues(4).real(),
-          eigenvalues(4).imag());
+  if (VLOG_IS_ON(1)) {
+    ::Eigen::EigenSolver<::Eigen::Matrix<double, 5, 5>> eigensolver(A - B * K);
+    const auto eigenvalues = eigensolver.eigenvalues();
+    LOG(INFO) << "Eigenvalues: " << eigenvalues;
+  }
   return K;
 }
 

frc971/wpilib/sensor_reader.cc

diff --git a/frc971/wpilib/sensor_reader.cc b/frc971/wpilib/sensor_reader.cc
index 0d970e8..2c5e563 100644
--- a/frc971/wpilib/sensor_reader.cc
+++ b/frc971/wpilib/sensor_reader.cc
@@ -118,8 +118,9 @@
   }
 
   if (pwm_trigger_) {
-    AOS_LOG(DEBUG, "PWM wakeup delta: %lld\n",
-            (monotonic_now - last_monotonic_now_).count());
+    // TODO(austin): Put this in a status message.
+    VLOG(1) << "PWM wakeup delta: "
+            << (monotonic_now - last_monotonic_now_).count();
     last_monotonic_now_ = monotonic_now;
 
     monotonic_clock::time_point last_tick_timepoint = GetPWMStartTime();