Remove warnings about missing WPILib structs

Mechanical-Advantage · Dec 15, 2023 · b7105a8 · b7105a8
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Showing 3 changed files with 7 additions and 14 deletions.
diff --git a/docs/tabs/3D-FIELD.md b/docs/tabs/3D-FIELD.md
@@ -48,8 +48,6 @@ Logger.recordOutput("MyPoseArray", poseA, poseB);
 Logger.recordOutput("MyPoseArray", new Pose3d[] {poseA, poseB});
 ```
 
-> Note: Without AdvantageKit, WPILib does not currently support structured logging of trajectories (as of 2024.1.1-beta-2). Keep an eye out for updates on this feature. In the meantime, trajectories can be logged using `Field2d` or as an array of poses.
-
 WPILib's [`Field2d`](https://docs.wpilib.org/en/stable/docs/software/dashboards/glass/field2d-widget.html) class can also be used to log several sets of 2D pose data together.
 
 ### Legacy Format

diff --git a/docs/tabs/ODOMETRY.md b/docs/tabs/ODOMETRY.md
@@ -46,8 +46,6 @@ Logger.recordOutput("MyPoseArray", poseA, poseB);
 Logger.recordOutput("MyPoseArray", new Pose3d[] {poseA, poseB});
 ```
 
-> Note: Without AdvantageKit, WPILib does not currently support structured logging of trajectories (as of 2024.1.1-beta-2). Keep an eye out for updates on this feature. In the meantime, trajectories can be logged using `Field2d` or as an array of poses.
-
 WPILib's [`Field2d`](https://docs.wpilib.org/en/stable/docs/software/dashboards/glass/field2d-widget.html) class can also be used to log several sets of pose data together.
 
 ### Legacy Format

diff --git a/docs/tabs/SWERVE.md b/docs/tabs/SWERVE.md
@@ -26,21 +26,18 @@ SwerveModuleState[] states = new SwerveModuleState[] {
     new SwerveModuleState()
 }
 
-// WPILib (Coming Soon!)
-//
-// StructArrayPublisher<SwerveModuleState> publisher = NetworkTableInstance.getDefault()
-//     .getStructArrayTopic("MyStates", SwerveModuleState.struct).publish();
-//
-// periodic() {
-//     publisher.set(states);
-// }
+// WPILib
+StructArrayPublisher<SwerveModuleState> publisher = NetworkTableInstance.getDefault()
+    .getStructArrayTopic("MyStates", SwerveModuleState.struct).publish();
+
+periodic() {
+    publisher.set(states);
+}
 
 // AdvantageKit
 Logger.recordOutput("MyStates", states);
 ```
 
-> Note: Without AdvantageKit, WPILib does not currently support struct logging of swerve module states (as of 2024.1.1-beta-2). Keep an eye out for updates on this feature. In the meantime, swerve states can be logged from WPILib in the legacy format described below.
-
 Alternatively, the state fields can be numeric arrays with the format shown below. The rotation units are configurable (radians or degrees).
 
 ```