Team4388/2023WayOfTheRobot
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autoChooser + playback filename

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This commit is contained in:
aarav18
2023-02-25 12:51:23 -07:00
parent de972faaee
commit 0469e17da3
2 changed files with 42 additions and 9 deletions
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src/main/java/frc4388/robot/commands/JoystickPlayback.java
+13 -5
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@@ -15,6 +15,8 @@ import frc4388.utility.UtilityStructs.TimedOutput;
public class JoystickPlayback extends CommandBase {
private final SwerveDrive swerve;
private String filename;
private int mult = 1;
private Scanner input;
private final ArrayList<TimedOutput> outputs = new ArrayList<>();
private int counter = 0;
@@ -22,15 +24,21 @@ public class JoystickPlayback extends CommandBase {
private long playbackTime = 0;
private int lastIndex;
private boolean m_finished = false; // ! find a better way
private int m_mult = 1;
/** Creates a new JoystickPlayback. */
public JoystickPlayback(SwerveDrive swerve, int mult) {
public JoystickPlayback(SwerveDrive swerve, String filename, int mult) {
this.swerve = swerve;
m_mult = mult;
this.filename = filename;
this.mult = mult;
addRequirements(this.swerve);
}
/** Creates a new JoystickPlayback. */
public JoystickPlayback(SwerveDrive swerve, String filename) {
this(swerve, filename, 1);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
@@ -38,7 +46,7 @@ public class JoystickPlayback extends CommandBase {
playbackTime = 0;
lastIndex = 0;
try {
input = new Scanner(new File("/home/lvuser/BlueNearDriveToChargeStation.txt"));
input = new Scanner(new File("/home/lvuser/" + filename));
String line = "";
while (input.hasNextLine()) {
@@ -52,7 +60,7 @@ public class JoystickPlayback extends CommandBase {
System.out.println("values: " + values[0] + " " + values[1] + " " + values[2] + " " + values[3]);
var out = new TimedOutput();
out.leftX = Double.parseDouble(values[0]) * m_mult;
out.leftX = Double.parseDouble(values[0]) * mult;
out.leftY = Double.parseDouble(values[1]);
out.rightX = Double.parseDouble(values[2]);
out.rightY = Double.parseDouble(values[3]);