Team4388/2023WayOfTheRobot
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This commit is contained in:
Abhi
2023-02-14 19:00:09 -07:00
parent 9e9652faae
commit 603be6538b
4 changed files with 61 additions and 111 deletions
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src/main/java/frc4388/robot/commands/JoystickPlayback.java
+2 -22
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@@ -6,34 +6,17 @@ package frc4388.robot.commands;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.IOException;
import java.io.PrintWriter;
import java.nio.file.Files;
import java.nio.file.Path;
import java.sql.Time;
import java.util.ArrayList;
import java.util.Scanner;
import java.util.function.Supplier;
import edu.wpi.first.math.Pair;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.UtilityStructs.TimedOutput;
public class JoystickPlayback extends CommandBase {
private static class TimedOutput {
public double leftX = 0.0;
public double leftY = 0.0;
public double rightX = 0.0;
public double rightY = 0.0;
public long timedOffset = 0;
}
private final SwerveDrive swerve;
private Scanner input;
private final ArrayList<TimedOutput> outputs;
private final ArrayList<TimedOutput> outputs = new ArrayList<>();
private int counter = 0;
private long startTime = 0;
private long playbackTime = 0;
@@ -42,10 +25,7 @@ public class JoystickPlayback extends CommandBase {
/** Creates a new JoystickPlayback. */
public JoystickPlayback(SwerveDrive swerve) {
// Use addRequirements() here to declare subsystem dependencies.
this.swerve = swerve;
outputs = new ArrayList<>();
addRequirements(this.swerve);
}