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Implement working PathPlanner I/O

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nathanrsxtn
2022-02-15 11:05:59 -07:00
parent 2dba3604e9
commit 3cb4a13bb1
9 changed files with 94 additions and 297 deletions
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src/main/java/frc4388/robot/Robot.java
+15 -8
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@@ -4,11 +4,13 @@
package frc4388.robot;
import java.io.File;
import java.io.IOException;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.TimedRobot;
@@ -18,6 +20,7 @@ import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.PathPlannerUtil;
import frc4388.utility.RobotLogger;
import frc4388.utility.RobotTime;
import frc4388.utility.PathPlannerUtil.Path;
/**
* The VM is configured to automatically run this class, and to call the
@@ -50,9 +53,11 @@ public class Robot extends TimedRobot {
LOGGER.log(Level.FINEST, "Logging Test 8/8");
// }
var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile());
LOGGER.finest(path::toString);
// var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile());
// LOGGER.finest(path::toString);
LOGGER.fine("robotInit()");
LOGGER.fine("Sssssssssh.");
DriverStation.silenceJoystickConnectionWarning(true);
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
@@ -88,19 +93,24 @@ public class Robot extends TimedRobot {
public void disabledInit() {
LOGGER.fine("disabledInit()");
m_robotTime.endMatchTime();
RobotLogger.getInstance().setEnabled(false);
if (isTest()) {
try {
String p = RobotLogger.getInstance().exportPath();
// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
Path path = RobotLogger.getInstance().createPath(0.1, 0.1, false);
String pathPath = "recording." + System.currentTimeMillis() + ".path";
File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve(pathPath).toFile();
outputFile.createNewFile();
path.write(outputFile);
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "Recorded path to {0} in the deploy directory on the RoboRIO", p);
LOGGER.log(Level.WARNING, "Recorded path to {0} in the deploy directory on the RoboRIO", pathPath);
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
// LOGGER.finest(path::toString);
} catch (IOException e) {
e.printStackTrace();
}
@@ -132,7 +142,6 @@ public class Robot extends TimedRobot {
m_autonomousCommand.schedule();
}
m_robotTime.startMatchTime();
RobotLogger.getInstance().setEnabled(false);
}
/**
@@ -153,7 +162,6 @@ public class Robot extends TimedRobot {
m_autonomousCommand.cancel();
}
m_robotTime.startMatchTime();
RobotLogger.getInstance().setEnabled(true);
DriverStation.silenceJoystickConnectionWarning(true);
}
@@ -168,7 +176,6 @@ public class Robot extends TimedRobot {
@Override
public void testInit() {
RobotLogger.getInstance().setEnabled(false);
}
/**