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Unofficial REV-Compatible Logger (URCL)

This unofficial project enables automatic logging of CAN traffic from REV motor controllers to NetworkTables or a file, viewable using AdvantageScope.

See the corresponding AdvantageScope documentation for more details, including installation and usage instructions.

Building and Editing

Project based on WPILib's 2024 vendor template.

This project uses Gradle with the same base setup as a standard GradleRIO robot project. This means you build with ./gradlew build, and can install the native toolchain with ./gradlew installRoboRIOToolchain. If you open this project in VS Code with the wpilib extension installed, you will get intellisense set up for both C++ and Java.

By default, this project builds against the latest WPILib development build. To build against the last WPILib tagged release, build with ./gradlew build -PreleaseMode.

Data Format

Revision 2/3

Revision 2 = 2024, Revision 3 = 2025 (no model frames)

  • "Raw/Persistent"
    • Buffer Length, Not Published (uint32)
    • Persistent Messages (8 bytes each)
      • Short Message ID (uint16)
      • Data (6 bytes)
  • "Raw/Periodic"
    • Buffer Length, Not Published (uint32)
    • Periodic Messages (14 bytes each)
      • Timestamp MS (uint32)
      • Short Message ID (uint16)
      • Data (8 bytes)
  • "Raw/Aliases"
    • JSON object of (CAN ID string -> alias string)

Revision 1

  • Buffer Size, Not Published (uint32)
  • Persistent Message Count (uint32)
  • Periodic Message Count (uint32)
  • Persistent Messages (8 bytes each)
    • Short Message ID (uint16)
    • Data (6 bytes)
  • Periodic Messages (14 bytes each)
    • Timestamp MS (uint32)
    • Short Message ID (uint16)
    • Data (8 bytes)