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Move path recording to a command

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nathanrsxtn
2022-03-08 16:31:42 -07:00
parent c41855a1fa
commit 02dce02225
6 changed files with 252 additions and 207 deletions
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src/main/java/frc4388/robot/Robot.java
-10
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@@ -190,16 +190,6 @@ public class Robot extends TimedRobot {
public void disabledInit() {
LOGGER.fine("disabledInit()");
m_robotTime.endMatchTime();
if (isTest()) {
// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner")
.resolve("recording." + System.currentTimeMillis() + ".path").toFile();
if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
m_robotContainer.createPath(null, null, false).write(outputFile);
LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath());
} else
LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath());
}
}
@Override