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Testing PathPlanner read/write

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This commit is contained in:
nathanrsxtn
2022-02-11 18:53:13 -07:00
parent 19d4b2accc
commit a0e7165c25
9 changed files with 389 additions and 138 deletions
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src/main/java/frc4388/robot/Robot.java
+29 -8
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@@ -10,10 +10,12 @@ import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc4388.utility.PathPlannerUtil;
import frc4388.utility.RobotLogger;
import frc4388.utility.RobotTime;
@@ -37,7 +39,7 @@ public class Robot extends TimedRobot {
*/
@Override
public void robotInit() {
if (org.fusesource.jansi.Ansi.isEnabled()) {
// if (org.fusesource.jansi.Ansi.isEnabled()) {
LOGGER.log(Level.ALL, "Logging Test 1/8");
LOGGER.log(Level.SEVERE, "Logging Test 2/8");
LOGGER.log(Level.WARNING, "Logging Test 3/8");
@@ -46,7 +48,10 @@ public class Robot extends TimedRobot {
LOGGER.log(Level.FINE, "Logging Test 6/8");
LOGGER.log(Level.FINER, "Logging Test 7/8");
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);
LOGGER.fine("robotInit()");
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
@@ -84,6 +89,22 @@ public class Robot extends TimedRobot {
LOGGER.fine("disabledInit()");
m_robotTime.endMatchTime();
RobotLogger.getInstance().setEnabled(false);
if (isTest()) {
try {
String p = RobotLogger.getInstance().exportPath();
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, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
LOGGER.log(Level.WARNING, "----------------------------------------------------------------------");
} catch (IOException e) {
e.printStackTrace();
}
}
}
@Override
@@ -99,7 +120,12 @@ public class Robot extends TimedRobot {
@Override
public void autonomousInit() {
LOGGER.fine("autonomousInit()");
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
try {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
/*String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
switch (autoSelected) {
@@ -154,11 +180,6 @@ public class Robot extends TimedRobot {
@Override
public void testInit() {
RobotLogger.getInstance().setEnabled(false);
try {
RobotLogger.getInstance().exportPath();
} catch (IOException e) {
e.printStackTrace();
}
}
/**