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changed/fixed some things up

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This commit is contained in:
aarav18
2022-03-10 17:44:27 -07:00
parent 2b0dd53360
commit 9a0e3f66d2
3 changed files with 259 additions and 257 deletions
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src/main/java/frc4388/robot/Robot.java
+5 -5
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@@ -131,9 +131,9 @@ public class Robot extends TimedRobot {
// print odometry data to smart dashboard for debugging (if causing timeout
// errors, you can comment it)
SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX());
SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY());
SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees());
// SmartDashboard.putNumber("Odometry X", m_robotContainer.getOdometry().getX());
// SmartDashboard.putNumber("Odometry Y", m_robotContainer.getOdometry().getY());
// SmartDashboard.putNumber("Odometry Theta", m_robotContainer.getOdometry().getRotation().getDegrees());
}
/**
@@ -150,7 +150,7 @@ public class Robot extends TimedRobot {
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);
// 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());
@@ -187,7 +187,7 @@ public class Robot extends TimedRobot {
@Override
public void teleopInit() {
LOGGER.fine("teleopInit()");
m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw());
// m_robotContainer.m_robotSwerveDrive.m_gyro.addYaw(-1 * m_robotContainer.m_robotSwerveDrive.m_gyro.getYaw());
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove