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Add a NetworkTables client to download paths

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Rename shooter CSV file
Add workspace file
This commit is contained in:
nathanrsxtn
2022-03-01 20:23:01 -07:00
parent cd4fd4938a
commit 2fc3297c64
24 changed files with 444 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -3
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@@ -6,6 +6,8 @@ package frc4388.robot;
import java.io.File;
import java.io.IOException;
import java.io.RandomAccessFile;
import java.io.StringWriter;
import java.nio.file.FileSystems;
import java.nio.file.Path;
import java.nio.file.StandardWatchEventKinds;
@@ -40,8 +42,12 @@ import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
@@ -90,11 +96,13 @@ public class RobotContainer {
private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
/* Autonomous */
private PathPlannerTrajectory loadedPathTrajectory = null;
private final ListeningSendableChooser<File> autoChooser = new ListeningSendableChooser<>(this::loadPath);
private final List<Waypoint> pathPoints = new ArrayList<>();
private final NetworkTableInstance networkTableInstance = NetworkTableInstance.getDefault();
private final NetworkTable recordingNetworkTable = networkTableInstance.getTable("Recording");
/* Autonomous */
private static final DateTimeFormatter RECORDING_FILE_NAME_FORMATTER = DateTimeFormatter.ofPattern("'Recording' yyyy-MM-dd HH:mm:ss.SSS'.path'");
private static final Clock SYSTEM_CLOCK = Clock.system(ZoneId.systemDefault());
private static final Path PATHPLANNER_DIRECTORY = Filesystem.getDeployDirectory().toPath().resolve("pathplanner");
@@ -291,9 +299,14 @@ public class RobotContainer {
// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
File outputFile = PATHPLANNER_DIRECTORY.resolve(ZonedDateTime.now(SYSTEM_CLOCK).format(RECORDING_FILE_NAME_FORMATTER)).toFile();
LOGGER.log(Level.WARNING, "Creating path {0}.", outputFile.getPath());
if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
if (!pathPoints.isEmpty() && Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
// TODO: Change to use measured maximum velocity and acceleration.
createPath(null, null, false).write(outputFile);
var path = createPath(null, null, false);
if (RobotBase.isReal())
path.write(outputFile);
StringWriter writer = new StringWriter();
path.write(writer);
recordingNetworkTable.getEntry(outputFile.getName()).setString(writer.toString());
autoChooser.setDefaultOption(outputFile.getName(), outputFile);
LOGGER.log(Level.INFO, "Recorded path to {0}.", outputFile.getPath());
} else