AdvantageKit C++

An unofficial native C++ port of AdvantageKit for WPILib 2026. The API and behavior target AdvantageKit v26.0.2, with C++-specific adaptations for templates, serialization and native robot lifecycle integration.

This is a personal project. It is not affiliated with or endorsed by Littleton Robotics, Mechanical Advantage, AdvantageKit or my team (254).

What is included

• Deterministic input logging and replay
• WPILOG readers and writers
• NT4 live publishing
• Logged robot lifecycle and timing
• Driver Station, power distribution, system and radio telemetry
• Replayable NetworkTables inputs and dashboard choosers
• Structured output logging and automatic output registration
• Protobuf logging for types without a struct serializer
• Logged mechanism visualization

Usage

Install the vendordep

Choose the vendordep that matches your robot project's WPILib version:

WPILib version	Vendordep URL	Source branch
2026	AdvantageKitCpp.json	main
2027.0.0-alpha-7	AdvantageKitCpp-2027.json	2027

The original AdvantageKitCpp.json URL continues to serve 2026 releases. AdvantageKitCpp-2027.json tracks 2027 releases and currently provides 27.0.0-alpha-6. Install only one of these files per robot project; they identify the same library and target different WPILib versions.

In VS Code, run WPILib: Manage Vendor Libraries → Install new libraries (online) and paste the matching URL. To pin a release, use https://thanewye.github.io/advantagekit-cpp/AdvantageKitCpp-<version>.json; for example, AdvantageKitCpp-27.0.0-alpha-6.json pins the current 2027 release.

Build and publish

Clone the repository with its header-only dependencies and run the release build:

git clone --recurse-submodules https://github.com/thanewye/advantagekit-cpp.git
cd advantagekit-cpp
./gradlew build -PreleaseMode

Create the Maven repository and expanded vendordep JSON with the final version, group and public URLs:

./gradlew clean build publish -PreleaseMode \
  -PpublishVersion=0.1.0-alpha \
  -PpublishGroup=com.example.advantagekit \
  -PvendordepMavenUrl=https://example.github.io/advantagekit-cpp/maven \
  -PvendordepJsonUrl=https://example.github.io/advantagekit-cpp/AdvantageKitCpp.json

The Maven repository is written to build/repos/releases, and the generated vendordep is written to build/vendordep/AdvantageKitCpp.json. See PUBLISHING.md for the complete release process.

Use in robot code

Inherit the robot class from akit::LoggedRobot, configure at least one receiver, and start the logger before constructing logged subsystems:

#include "akit/LoggedRobot.h"
#include "akit/Logger.h"
#include "akit/networktables/NT4Publisher.h"

class Robot : public akit::LoggedRobot {
public:
    Robot() {
        akit::Logger::AddDataReceiver(&publisher);
        akit::Logger::Start();
    }

private:
    akit::networktables::NT4Publisher publisher;
};

Use akit::wpilog::WPILOGWriter for on-robot log storage and akit::wpilog::WPILOGReader with Logger::SetReplaySource() for replay.

Template projects

C++ ports of the AdvantageKit template projects are in template_projects, with real, sim and replay modes already configured. Copy a directory to start a new robot project.

• skeleton: logger setup only
• diff_drive: differential drive with Talon SRX, Talon FX or Spark motors
• kitbot_2026: 2026 kitbot drive and superstructure
• spark_swerve: swerve with Spark Flex drive, Spark Max turn and high-frequency odometry
• talonfx_swerve: swerve configured from Phoenix Tuner X TunerConstants
• vision: Limelight and PhotonVision pose estimation