Extend data logging for validation

[gerth2]

Basic drivetrain has been implemented. Over time we will need to add in more datalogging fields.

Entering this issue as a general holding spot for all things we want to log

Please add in this list as soon as possible. As time goes on, we will need to keep revisiting this list to update it and make sure all things get logged that we want.

Logging List:

• Match time
• FPGA Timestamp
• PDP Total Current Draw
• PDP Voltage
• roboRIO voltage
• PDP Current draws per motor
• Brownout & voltage fault states
• Network load
• Processor load
• Memory usage
  • These have proven hard, but would be useful to know
• Compressor enabled/disabled
• Compressor current draw
• System PSI (analog)
• Accelerate XYZ readings
• Gyro XYZ readings
• Vision targets location/size raw data
  • Will need to be creative with making this data useful and efficient
• Qualified vision targets data
• Auto-tracking error
• Auto-Downshift demanded
  • Also, auto-downshift individual criteria state
• Wheel speeds
• estimated current draw
• Estimated battery parameters
• Driver joystick commands
• driver upshift/downshift commands
• Launch wheel commanded speed
• Launch wheel measured speed
• Solenoid commanded states
• Go/NoGo launch criteria state
• Color sensor raw readings
• Line detection state
• On-defense detection state
• LIDAR measured distance

[gerth2]

Use FPGA timestamp to mark the start/end of each *perioidic loop. On the next loop, log that elapsed time to file. Ensure the start/end encapsulates the logging overhead as well.

Log the ds.isNewControlData() return value to indicate if field coms lag or robot (for any reason) is not getting updates from the DS.

[gerth2]

Please check comment added on #28 .