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Real robo changes

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This commit is contained in:
evan
2022-03-05 11:12:33 -07:00
parent 71e082e7bd
commit a5058b4ad8
7 changed files with 449 additions and 268 deletions
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src/main/java/frc4388/robot/Robot.java
+44 -18
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@@ -32,7 +32,7 @@ import frc4388.utility.RobotTime;
public class Robot extends TimedRobot {
private static final Logger LOGGER = Logger.getLogger(Robot.class.getSimpleName());
Command m_autonomousCommand;
private RobotTime m_robotTime = RobotTime.getInstance();
private RobotContainer m_robotContainer;
@@ -50,21 +50,32 @@ 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");
Errors.log().run(() -> { throw new Throwable("Exception Test"); });
Errors.log().run(() -> {
throw new Throwable("Exception Test");
});
// var path = PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move Forward.path").toFile());
// 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
// Instantiate our RobotContainer. This will perform all our button bindings,
// and put our
// autonomous chooser on the dashboard.
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() {
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;
@@ -75,12 +86,20 @@ public class Robot extends TimedRobot {
return "Not Running";
}
});
SmartDashboard.putData("Usable Deploy Space", new RunCommand(() -> {}) {
@Override public boolean runsWhenDisabled() { return true; }
@Override public String getName() {
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 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";
}
@@ -94,19 +113,24 @@ public class Robot extends TimedRobot {
* this for items like diagnostics that you want ran during disabled,
* autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before
* <p>
* This runs after the mode specific periodic functions, but before
* LiveWindow and SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
// Runs the Scheduler. This is responsible for polling buttons, adding
// newly-scheduled
// commands, running already-scheduled commands, removing finished or
// interrupted commands,
// and running subsystem periodic() methods. This must be called from the
// robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
// print odometry data to smart dashboard for debugging (if causing timeout errors, you can comment it)
// 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());
@@ -123,7 +147,8 @@ public class Robot extends TimedRobot {
m_robotTime.endMatchTime();
if (isTest()) {
// IMPORTANT: Had to chown the pathplanner folder in order to save autos.
File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("recording." + System.currentTimeMillis() + ".path").toFile();
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);
LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath());
@@ -137,7 +162,8 @@ public class Robot extends TimedRobot {
}
/**
* This autonomous runs the autonomous command selected by your {@link RobotContainer} class.
* This autonomous runs the autonomous command selected by your
* {@link RobotContainer} class.
*/
@Override
public void autonomousInit() {