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bye bye odo chooser 😢

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This commit is contained in:
aarav18
2022-03-20 21:22:55 -06:00
parent 6012f99439
commit f8092825f6
1 changed files with 2 additions and 39 deletions
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src/main/java/frc4388/robot/Robot.java
+2 -39
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@@ -42,10 +42,7 @@ public class Robot extends TimedRobot {
private RobotTime m_robotTime = RobotTime.getInstance();
private RobotContainer m_robotContainer;
private SendableChooser<Pose2d> odoChooser = new SendableChooser<Pose2d>();
private HashMap<String, Pose2d> odoChoices = new HashMap<>();
private Pose2d selectedOdo;
private double current;
private static DesmosServer desmosServer = new DesmosServer(8000);
@@ -140,8 +137,6 @@ public class Robot extends TimedRobot {
@Override
public void robotPeriodic() {
m_robotTime.updateTimes();
// SmartDashboard.putNumber("Turret", m_robotContainer.m_robotMap.shooterTurret.getEncoder().getPosition());
// SmartDashboard.putNumber("Hood", m_robotContainer.m_robotMap.angleAdjusterMotor.getEncoder().getPosition());
// current =
// m_robotContainer.m_robotBoomBoom.getCurrent() +
// m_robotContainer.m_robotClimber.getCurrent(); //+
@@ -154,7 +149,7 @@ public class Robot extends TimedRobot {
// m_robotContainer.m_robotTurret.getCurrent();
// SmartDashboard.putNumber("Total Robot Current Draw", current);
// SmartDashboard.putNumber("Drive Train Voltage", m_robotContainer.m_robotSwerveDrive.getVoltage());
SmartDashboard.putNumber("Drive Train Current", m_robotContainer.m_robotSwerveDrive.getCurrent());
// SmartDashboard.putNumber("Drive Train Current", m_robotContainer.m_robotSwerveDrive.getCurrent());
// Runs the Scheduler. This is responsible for polling buttons, adding
// newly-scheduled
// commands, running already-scheduled commands, removing finished or
@@ -166,26 +161,6 @@ 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());
// odo chooser stuff
addOdoChoices(new Pose2d(3.2766, -0.9398, new Rotation2d(0)));
updateOdoChooser();
SmartDashboard.putData("Odometry Chooser", odoChooser);
}
public void updateOdoChooser() {
for (Map.Entry<String,Pose2d> entry : odoChoices.entrySet()) {
odoChooser.addOption(entry.getKey(), entry.getValue());
}
}
public void addOdoChoices(Pose2d... points) {
for (Pose2d point : points) {
String key = "(" + point.getX() + ", " + point.getY() + ", " + point.getRotation().getDegrees() + ")";
odoChoices.put(key, point);
}
}
/**
@@ -225,12 +200,6 @@ public class Robot extends TimedRobot {
Robot.alliance = DriverStation.getAlliance();
selectedOdo = odoChooser.getSelected();
if (selectedOdo == null) {
selectedOdo = m_robotContainer.getOdometry();
}
m_robotContainer.resetOdometry(selectedOdo);
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
@@ -253,12 +222,6 @@ public class Robot extends TimedRobot {
Robot.alliance = DriverStation.getAlliance();
selectedOdo = odoChooser.getSelected();
if (selectedOdo == null) {
selectedOdo = m_robotContainer.getOdometry();
}
// m_robotContainer.resetOdometry(selectedOdo);
// 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