From 7712134aeb9020d17022dc3110b859d681744af9 Mon Sep 17 00:00:00 2001 From: Aarav Date: Sat, 25 Feb 2023 15:03:05 -0700 Subject: [PATCH] change --- src/main/java/frc4388/robot/Robot.java | 2 - .../robot/commands/JoystickPlayback.java | 3 + .../robot/commands/JoystickRecorder.java | 4 + src/main/java/frc4388/robot/commands/Taxi.txt | 575 +++++++----------- 4 files changed, 229 insertions(+), 355 deletions(-) diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 1652902..7995804 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -71,8 +71,6 @@ public class Robot extends TimedRobot { @Override public void disabledInit() { m_robotTime.endMatchTime(); - - SmartDashboard.putData("AutoPlayback Chooser", m_robotContainer.chooser); } @Override diff --git a/src/main/java/frc4388/robot/commands/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/JoystickPlayback.java index 9519497..0f496a9 100644 --- a/src/main/java/frc4388/robot/commands/JoystickPlayback.java +++ b/src/main/java/frc4388/robot/commands/JoystickPlayback.java @@ -42,6 +42,9 @@ public class JoystickPlayback extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { + outputs.clear(); + m_finished = false; + startTime = System.currentTimeMillis(); playbackTime = 0; lastIndex = 0; diff --git a/src/main/java/frc4388/robot/commands/JoystickRecorder.java b/src/main/java/frc4388/robot/commands/JoystickRecorder.java index d1bf047..eea72b4 100644 --- a/src/main/java/frc4388/robot/commands/JoystickRecorder.java +++ b/src/main/java/frc4388/robot/commands/JoystickRecorder.java @@ -45,6 +45,8 @@ public class JoystickRecorder extends CommandBase { // Called when the command is initially scheduled. @Override public void initialize() { + outputs.clear(); + this.startTime = System.currentTimeMillis(); outputs.add(new TimedOutput()); @@ -65,6 +67,8 @@ public class JoystickRecorder extends CommandBase { swerve.driveWithInput(new Translation2d(inputs.leftX, inputs.leftY), new Translation2d(inputs.rightX, inputs.rightY), true); + + System.out.println("RECORDING"); } // Called once the command ends or is interrupted. diff --git a/src/main/java/frc4388/robot/commands/Taxi.txt b/src/main/java/frc4388/robot/commands/Taxi.txt index f49eded..c99ee2c 100644 --- a/src/main/java/frc4388/robot/commands/Taxi.txt +++ b/src/main/java/frc4388/robot/commands/Taxi.txt @@ -1,356 +1,225 @@ 0.0,0.0,0.0,0.0,0 -0.0,0.0,0.0,0.0,2 -0.0,0.0,0.0,0.0,20 -0.0,0.0,0.0,0.0,70 -0.0,0.0,0.0,0.0,85 -0.0,0.0,0.0,0.0,97 -0.0,0.0,0.0,0.0,109 -0.0,0.0,0.0,0.0,122 -0.0,0.0,0.0,0.0,140 +0.0,0.0,0.0,0.0,0 +0.0,0.0,0.0,0.0,12 +0.0,0.0,0.0,0.0,26 +0.0,0.0,0.0,0.0,37 +0.0,0.0,0.0,0.0,50 +0.0,0.0,0.0,0.0,62 +0.0,0.0,0.0,0.0,73 +0.0,0.0,0.0,0.0,88 +0.0,0.0,0.0,0.0,103 +0.0,0.0,0.0,0.0,116 0.0,0.0,0.0,0.0,160 -0.0,0.0,0.0,0.0,180 +0.0,0.0,0.0,0.0,173 +0.0,0.0,0.0,0.0,185 0.0,0.0,0.0,0.0,200 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