Update epilogue docs for EpilogueBackend rename and fix example forma…

…tting (#2856)

source/docs/software/telemetry/robot-telemetry-with-annotations.rst

@@ -15,17 +15,20 @@ This is enough to start logging data to NetworkTables for display and capture on
     public class Robot extends TimedRobot {
       private final Arm arm;
       private final Drivetrain drivetrain;
+
       public Robot() {
         arm = new Arm();
         drivetrain = new Drivetrain();
         DataLogManager.start(); // Optional to mirror the NetworkTables-logged data to a file on disk
         Epilogue.bind(this);
       }
     }
+
     @Logged
     public class Arm {
       // ...
     }
+
     @Logged
     public class Drivetrain {
       // ...
@@ -84,17 +87,21 @@ The names of log entries can be changed using the ``name`` configuration option
         ```java
         public class Robot extends RobotBase {
           private final Arm arm;
+
           public Robot() {
             arm = new Arm();
           }
         }
+
         class Arm {
           public final Trigger atLowStop = new Trigger(...);
           public final Trigger atHighStop = new Trigger(...);
           private Rotation2d lastPosition = getPosition();
+
           public Rotation2d getPosition() {
             // ...
           }
+
           public Measure<Velocity<Angle>> getSpeed() {
             // ...
           }
@@ -107,20 +114,24 @@ The names of log entries can be changed using the ``name`` configuration option
         @Logged
         public class Robot extends RobotBase {
           private final Arm arm; // Anything loggable within the arm object will be logged under an "arm" entry
-            public Robot() {
+
+          public Robot() {
             arm = new Arm();
             Epilogue.bind(this);
           }
         }
+
         @Logged
         class Arm {
           public final Trigger atLowStop = new Trigger(...);  // Logged as a boolean in an "atLowStop" entry
           public final Trigger atHighStop = new Trigger(...); // Logged as a boolean in an "atHighStop" entry
           private Rotation2d lastPosition = getPosition();    // Logged as a Rotation2d struct in a "lastPosition" entry
+
           // Logged as a Rotation2d struct object in a "getPosition" entry
           public Rotation2d getPosition() {
             // ...
           }
+
           // Logged as a double in terms of radians per second in a "getSpeed" entry
           public Measure<Velocity<Angle>> getSpeed() {
             // ...
@@ -145,24 +156,30 @@ The names of log entries can be changed using the ``name`` configuration option
         public class Robot extends RobotBase {
           @Logged(name = "Arm")
           private Arm arm;
+
           public Robot() {
             arm = new Arm();
             DataLogManager.start();
             Epilogue.bind(this);
           }
         }
+
         @Logged(strategy = OPT_IN)
         class Arm {
           @Logged(name = "At Low Stop", importance = DEBUG)
           public final Trigger atLowStop = new Trigger(...);
+
           @Logged(name = "At High Stop", importance = DEBUG)
           public final Trigger atHighStop = new Trigger(...);
+
           @NotLogged // Redundant because the class strategy is opt-in
           private Rotation2d lastPosition = getPosition(); // No @Logged annotation, not logged
+
           @Logged(name = "Position", importance = CRITICAL)
           public Rotation2d getPosition() {
             // ...
           }
+
           @Logged(name = "Speed", importance = CRITICAL)
           public Measure<Velocity<Angle>> getSpeed() {
               // ...
@@ -214,14 +231,17 @@ If your main robot class inherits from ``TimedRobot``, the generated ``Epilogue`
         Epilogue.configure(config -> {
           // Log only to disk, instead of the default NetworkTables logging
           // Note that this means data cannot be analyzed in realtime by a dashboard
-          config.dataLogger = new FileLogger(DataLogManager.getLog());
+          config.backend = new FileBackend(DataLogManager.getLog());
+
           if (isSimulation()) {
             // If running in simulation, then we'd want to re-throw any errors that
             // occur so we can debug and fix them!
             config.errorHandler = ErrorHandler.crashOnError();
           }
-              // Change the root data path
+
+          // Change the root data path
           config.root = "Telemetry";
+
           // Only log critical information instead of the default DEBUG level.
           // This can be helpful in a pinch to reduce network bandwidth or log file size
           // while still logging important information.
@@ -250,19 +270,21 @@ Custom loggers can be declared in any package, and only need to have the ``@Cust
       public double getAppliedVoltage();
       public double getInputCurrent();
     }
+
     @CustomLoggerFor(VendorMotor.class)
     public class YourCustomVendorMotorLogger extends ClassSpecificLogger<VendorMotor> {
       public YourCustomVendorMotorLogger() {
         super(VendorMotor.class);
       }
+
       @Override
-      public void update(DataLogger dataLogger, VendorMotor motor) {
+      public void update(EpilogueBackend backend, VendorMotor motor) {
         if (Epilogue.shouldLog(Logged.Importance.DEBUG)) {
-          dataLogger.log("Faults", motor.getFaults());
+          backend.log("Faults", motor.getFaults());
         }
-        dataLogger.log("Requested Speed (Duty Cycle)", motor.get());
-        dataLogger.log("Motor Voltage (V)", motor.getAppliedVoltage());
-        dataLogger.log("Input Current (A)", motor.getInputCurrent());
+        backend.log("Requested Speed (Duty Cycle)", motor.get());
+        backend.log("Motor Voltage (V)", motor.getAppliedVoltage());
+        backend.log("Input Current (A)", motor.getInputCurrent());
       }
     }
     ```