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Add manual CSV tuning

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Remove free storage and RAM commands
This commit is contained in:
nathanrsxtn
2022-03-24 19:08:24 -06:00
parent 7168e7b618
commit 042a03a58f
4 changed files with 95 additions and 98 deletions
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src/main/java/frc4388/robot/Robot.java
+11 -51
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@@ -5,30 +5,20 @@
package frc4388.robot;
import java.io.File;
import java.nio.file.Files;
import java.nio.file.Path;
import java.util.HashMap;
import java.util.Map;
import java.util.logging.Level;
import java.util.logging.Logger;
import com.diffplug.common.base.Errors;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.drive.Vector2d;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.utility.RobotTime;
import frc4388.utility.VelocityCorrection;
import frc4388.utility.desmos.DesmosServer;
import frc4388.utility.Vector2D;
/**
* The VM is configured to automatically run this class, and to call the
@@ -83,45 +73,6 @@ public class Robot extends TimedRobot {
m_robotContainer = new RobotContainer();
// addPeriodic(m_robotContainer::recordPeriodic, kDefaultPeriod);
SmartDashboard.putData(CommandScheduler.getInstance());
SmartDashboard.putData("JVM Memory", new RunCommand(() -> {
}) {
@Override
public boolean runsWhenDisabled() {
return true;
}
@Override
public String getName() {
if (isScheduled()) {
Runtime runtime = Runtime.getRuntime();
long totalMemory = runtime.totalMemory() / 1_000_000;
long freeMemory = runtime.freeMemory() / 1_000_000;
long maxMemory = runtime.maxMemory() / 1_000_000;
return totalMemory - freeMemory + " MB / " + totalMemory + " MB / " + maxMemory + " MB";
}
return "Not Running";
}
});
SmartDashboard.putData("Usable Deploy Space", new RunCommand(() -> {
}) {
@Override
public boolean runsWhenDisabled() {
return true;
}
@Override
public String getName() {
if (isScheduled()) {
File deploy = Filesystem.getDeployDirectory();
long usedSpace = Errors.suppress().getWithDefault(
() -> Files.walk(deploy.toPath()).map(Path::toFile).filter(File::isFile).mapToLong(File::length).sum(),
0l) / 1_000_000;
long usableSpace = deploy.getUsableSpace() / 1_000_000;
return usedSpace + " MB / " + usableSpace + " MB";
}
return "Not Running";
}
});
// desmosServer.start();
m_robotContainer.m_robotVisionOdometry.setLEDs(true);
@@ -140,6 +91,15 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
Vector2D firstBallPosition = new Vector2D(15.56 - (82.83 / 2.00), 11.21 - 162.00);
Vector2D secondBallPosition = new Vector2D(-(40.44 * (Math.sqrt(2.00) / 2.00)) - ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (82.83 / 2.00), -(40.44 * (Math.sqrt(2.00) / 2.00)) + ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (219.25 / 2.00)); // * position of second ball, relative to hub.
Vector2D firstToSecond = Vector2D.subtract(secondBallPosition, firstBallPosition);
System.out.println("First Ball (FEET): " + Vector2D.divide(firstBallPosition, 12).toString());
System.out.println("Second Ball (FEET): " + Vector2D.divide(secondBallPosition, 12).toString());
System.out.println("First To Second (FEET): " + Vector2D.divide(firstToSecond, 12).toString());
// current =
// m_robotContainer.m_robotBoomBoom.getCurrent() +
// m_robotContainer.m_robotClimber.getCurrent(); //+