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https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-08 16:28:07 -06:00
Cleanup and fix shooter tuner
This commit is contained in:
nathanrsxtn
@@ -3,15 +3,13 @@ package frc4388.robot.commands;
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import java.io.File;
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import java.io.IOException;
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import java.io.OutputStream;
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import java.nio.file.FileSystem;
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import java.nio.file.FileSystems;
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import java.nio.file.Files;
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import java.nio.file.Path;
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import java.nio.file.StandardOpenOption;
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import java.nio.file.attribute.FileOwnerAttributeView;
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import java.nio.file.attribute.UserPrincipal;
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import java.nio.file.attribute.UserPrincipalLookupService;
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import java.util.Arrays;
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import java.util.logging.Logger;
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import com.diffplug.common.base.Errors;
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@@ -22,66 +20,86 @@ import edu.wpi.first.wpilibj.RobotBase;
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import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.Subsystem;
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import frc4388.robot.Robot;
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import frc4388.robot.subsystems.BoomBoom;
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import frc4388.robot.subsystems.BoomBoom.ShooterTableEntry;
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public class ShooterTuner extends CommandBase {
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private static final Logger LOGGER = Logger.getLogger(ShooterTuner.class.getSimpleName());
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private static final Path PATH = new File(Filesystem.getDeployDirectory(), "ShooterData.csv").toPath();
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private final BoomBoom m_boomBoom;
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private final Sendable m_shotEditor;
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private final Sendable m_shotCsvAppender;
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private final Sendable m_shooterTableView;
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// private final Sendable m_shooterTableUpdater;
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private OutputStream csvOutputStream;
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private final ShotEditor m_shotEditor;
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private final CSVAppender m_shotCsvAppender;
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private final DistanceReader m_distanceReader;
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private final ShooterTableEditor m_shooterTableEditor;
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private final DisabledInstantCommand m_shooterTableUpdater;
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private final DisabledInstantCommand m_printCsvFile;
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private final ShooterTableEntry tableOverrideEntry;
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public ShooterTuner(BoomBoom boomBoom) {
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m_boomBoom = boomBoom;
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addRequirements(boomBoom);
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setName("Enable");
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m_shotEditor = new ShotEditor();
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m_shotCsvAppender = new PersistentInstantCommand(this::appendCsv).withName("Append");
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m_shooterTableView = new ShooterTableEditor();
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// m_shooterTableUpdater = new
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// PersistentInstantCommand(m_boomBoom::loadShooterTable).withName("Reload");
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m_shotCsvAppender = new CSVAppender();
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m_distanceReader = new DistanceReader();
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m_shooterTableEditor = new ShooterTableEditor();
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m_printCsvFile = new DisabledInstantCommand(() -> LOGGER.info(Errors.log().wrapWithDefault(() -> Files.readString(PATH), "Failed to read CSV")), "Print");
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m_shooterTableUpdater = new DisabledInstantCommand(m_boomBoom::loadShooterTable, "Load CSV");
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tableOverrideEntry = new ShooterTableEntry();
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setName("Shooter Data Mode");
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}
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private OutputStream getCsvOutputStream() {
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if (csvOutputStream == null) {
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Path path = new File(Filesystem.getDeployDirectory(), "ShooterData.csv").toPath();
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if (RobotBase.isReal())
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Errors.log().run(() -> Files.getFileAttributeView(path, FileOwnerAttributeView.class).setOwner(FileSystems.getDefault().getUserPrincipalLookupService().lookupPrincipalByName("admin")));
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csvOutputStream = Errors.rethrow().get(() -> Files.newOutputStream(path, StandardOpenOption.WRITE, StandardOpenOption.APPEND));
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@Override
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public void initialize() {
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var tab = Shuffleboard.getTab("Shooter Tuner");
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if (tab.getComponents().isEmpty()) {
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var manual = tab.getLayout("Manual Shooter Data", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 3);
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manual.add("Distance Reader", m_distanceReader);
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manual.add("Manual Shooter Data", m_shotEditor);
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manual.add("Shooter Table Appender", m_shotCsvAppender);
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var csv = tab.getLayout("Shooter Data", BuiltInLayouts.kList).withPosition(2, 0).withSize(4, 3);
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csv.addBoolean("Is Shooter Data Overridden", this::isOverridden);
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csv.add("Shooter Data (Broken)", m_shooterTableEditor);
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csv.add("Shooter CSV Loader", m_shooterTableUpdater);
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csv.add("Print CSV File", m_printCsvFile);
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}
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return csvOutputStream;
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tableOverrideEntry.distance = 0.0;
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tableOverrideEntry.hoodExt = 0.0;
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tableOverrideEntry.drumVelocity = 0.0;
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m_boomBoom.m_shooterTable = new ShooterTableEntry[] { tableOverrideEntry };
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Shuffleboard.selectTab("Shooter Tuner");
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}
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private class ShotEditor implements Sendable {
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@Override
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public void initSendable(SendableBuilder builder) {
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builder.setSmartDashboardType("RobotPreferences");
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builder.addBooleanProperty("[Enabled]", ShooterTuner.this::isScheduled, b -> {
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if (!b) cancel();
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});
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builder.addDoubleProperty("Drum Velocity", () -> m_boomBoom.m_shooterTable[0].drumVelocity, d -> m_boomBoom.m_shooterTable[0].drumVelocity = d);
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builder.addDoubleProperty("Hood Extension", () -> m_boomBoom.m_shooterTable[0].hoodExt, d -> m_boomBoom.m_shooterTable[0].hoodExt = d);
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builder.addDoubleProperty("Measured Distance", () -> SmartDashboard.getNumber("Distance to Target", -1), System.out::println);
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}
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@Override
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public final boolean isFinished() {
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return true;
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}
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private class ShooterTableEditor implements Sendable {
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@Override
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public void initSendable(SendableBuilder builder) {
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Arrays.stream(m_boomBoom.m_shooterTable).forEach(e -> builder.addDoubleArrayProperty(Double.toString(e.distance), () -> new double[] { e.hoodExt, e.drumVelocity }, a -> {
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}));
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}
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@Override
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public String getName() {
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return isOverridden() ? "Tuner Override" : "CSV File";
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}
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private class PersistentInstantCommand extends InstantCommand {
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public PersistentInstantCommand(Runnable toRun, Subsystem... requirements) {
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private boolean isOverridden() {
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return m_boomBoom.m_shooterTable.length == 1 && m_boomBoom.m_shooterTable[0].equals(tableOverrideEntry);
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}
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@Override
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public boolean runsWhenDisabled() {
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return true;
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}
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private static void setReadOnlyProperty(Object o) {
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System.err.println("Unable to set read-only property.");
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}
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private class DisabledInstantCommand extends InstantCommand {
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public DisabledInstantCommand(Runnable toRun, String name, Subsystem... requirements) {
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super(toRun, requirements);
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setName(name);
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}
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@Override
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@@ -90,43 +108,65 @@ public class ShooterTuner extends CommandBase {
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}
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}
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private void appendCsv() {
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String s = String.format("%s,%s,%s%n", m_boomBoom.m_shooterTable[0].distance, m_boomBoom.m_shooterTable[0].hoodExt, m_boomBoom.m_shooterTable[0].drumVelocity);
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byte[] b = s.getBytes();
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Errors.log().run(() -> getCsvOutputStream().write(b));
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private class DistanceReader extends CommandBase {
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@Override
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public void execute() {
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tableOverrideEntry.distance = SmartDashboard.getNumber("Distance to Target", -1);
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}
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@Override
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public String getName() {
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return isScheduled() ? "Reading" : "Enable";
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}
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@Override
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public boolean runsWhenDisabled() {
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return true;
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}
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}
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@Override
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public void initialize() {
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setName("Disable");
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var tab = Shuffleboard.getTab("Shooter Tuner");
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var manual = tab.getLayout("Manual Shooter Data", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 3);
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manual.add("Manual Shooter Data", m_shotEditor);
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manual.add("Shooter Table Appender", m_shotCsvAppender);
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var csv = tab.getLayout("Shooter Data", BuiltInLayouts.kList).withPosition(2, 0).withSize(4, 3);
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csv.add("Initial Shooter Data", m_shooterTableView);
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// csv.add("Reload Data", m_shooterTableUpdater);
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ShooterTableEntry dummyEntry = new ShooterTableEntry();
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dummyEntry.distance = 0.0;
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dummyEntry.hoodExt = 0.0;
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dummyEntry.drumVelocity = 0.0;
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m_boomBoom.m_shooterTable = new ShooterTableEntry[] { dummyEntry };
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Shuffleboard.selectTab("Shooter Tuner");
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private class ShotEditor implements Sendable {
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@Override
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public void initSendable(SendableBuilder builder) {
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builder.setSmartDashboardType("RobotPreferences");
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builder.addDoubleProperty("Drum Velocity", () -> tableOverrideEntry.drumVelocity, d -> tableOverrideEntry.drumVelocity = d);
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builder.addDoubleProperty("Hood Extension", () -> tableOverrideEntry.hoodExt, d -> tableOverrideEntry.hoodExt = d);
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builder.addDoubleProperty("Measured Distance", () -> tableOverrideEntry.distance, ShooterTuner::setReadOnlyProperty);
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}
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}
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@Override
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public void execute() {
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m_boomBoom.m_shooterTable[0].distance = SmartDashboard.getNumber("Distance to Target", -1);
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private class CSVAppender extends CommandBase {
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@Override
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public void initialize() {
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if (RobotBase.isReal()) Errors.log().run(() -> Files.getFileAttributeView(PATH, FileOwnerAttributeView.class).setOwner(FileSystems.getDefault().getUserPrincipalLookupService().lookupPrincipalByName("admin")));
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try (OutputStream csvOutputStream = Files.newOutputStream(PATH, StandardOpenOption.WRITE, StandardOpenOption.APPEND)) {
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csvOutputStream.write(String.format("%s,%s,%s%n", tableOverrideEntry.distance, tableOverrideEntry.hoodExt, tableOverrideEntry.drumVelocity).getBytes());
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} catch (IOException e) {
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System.out.println(e);
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}
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}
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@Override
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public String getName() {
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return isScheduled() ? "Appending" : "Append";
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}
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@Override
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public final boolean isFinished() {
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return true;
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}
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@Override
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public boolean runsWhenDisabled() {
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return true;
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}
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}
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@Override
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public void end(boolean interrupted) {
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Errors.log().run(getCsvOutputStream()::close);
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m_boomBoom.loadShooterTable();
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}
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@Override
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public boolean runsWhenDisabled() {
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return true;
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private class ShooterTableEditor implements Sendable {
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@Override
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public void initSendable(SendableBuilder builder) {
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builder.addStringArrayProperty("distance", () -> new String[] { "hoodExt", "drumVelocity" }, ShooterTuner::setReadOnlyProperty);
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Arrays.stream(m_boomBoom.m_shooterTable).forEach(e -> builder.addDoubleArrayProperty(Double.toString(e.distance), () -> new double[] { e.hoodExt, e.drumVelocity }, ShooterTuner::setReadOnlyProperty));
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}
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}
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}
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