From 7cca9e0547880c369755d47be61cca2ad360a104 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 25 Feb 2023 08:55:54 -0700 Subject: [PATCH] filename parameter (incomplete) --- src/main/java/frc4388/robot/RobotContainer.java | 2 +- .../frc4388/robot/commands/JoystickPlayback.java | 13 ++++++++++++- 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 731275b..6e8b88f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -94,7 +94,7 @@ public class RobotContainer { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - return new InstantCommand(); + return new JoystickPlayback(m_robotSwerveDrive); } public DeadbandedXboxController getDeadbandedDriverController() { diff --git a/src/main/java/frc4388/robot/commands/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/JoystickPlayback.java index 6961d09..b6943c9 100644 --- a/src/main/java/frc4388/robot/commands/JoystickPlayback.java +++ b/src/main/java/frc4388/robot/commands/JoystickPlayback.java @@ -15,6 +15,7 @@ import frc4388.utility.UtilityStructs.TimedOutput; public class JoystickPlayback extends CommandBase { private final SwerveDrive swerve; + private String filename; private Scanner input; private final ArrayList outputs = new ArrayList<>(); private int counter = 0; @@ -26,6 +27,16 @@ public class JoystickPlayback extends CommandBase { /** Creates a new JoystickPlayback. */ public JoystickPlayback(SwerveDrive swerve) { this.swerve = swerve; + this.filename = "JoystickInputs.txt"; + + addRequirements(this.swerve); + } + + /** Creates a new JoystickPlayback. */ + public JoystickPlayback(SwerveDrive swerve, String filename) { + this.swerve = swerve; + this.filename = filename; + addRequirements(this.swerve); } @@ -36,7 +47,7 @@ public class JoystickPlayback extends CommandBase { playbackTime = 0; lastIndex = 0; try { - input = new Scanner(new File("/home/lvuser/JoystickInputs.txt")); + input = new Scanner(new File("/home/lvuser/" + this.filename)); String line = ""; while (input.hasNextLine()) {