Team4388/2023WayOfTheRobot
1
0
Fork 0
mirror of https://github.com/Team4388/2023WayOfTheRobot.git synced 2026-06-09 08:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Buncha UI Stuffs

Browse Source
This commit is contained in:
66945
2023-02-28 12:36:52 -07:00
parent 61f5911e48
commit 8da5661bf8
1 changed files with 26 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/PlaybackChooser.java
+26 -16
View File
@@ -5,10 +5,9 @@ import java.util.ArrayList;
import java.util.HashMap;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.ComplexWidget;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.WidgetType;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import frc4388.robot.subsystems.SwerveDrive;
@@ -16,9 +15,11 @@ import frc4388.robot.subsystems.SwerveDrive;
public class PlaybackChooser {
private final ArrayList<SendableChooser<Command>> m_choosers = new ArrayList<>();
private SendableChooser<Command> m_playback = null;
private final ArrayList<ComplexWidget> m_widgets = new ArrayList<>();
private final HashMap<String, Command> m_commandPool = new HashMap<>();
private final File m_dir = new File("/home/lvuser/autos/");
private final File m_dir = new File("/home/lvuser/autos/");
private int m_cmdNum = 0;
private final SwerveDrive m_swerve;
// commands
@@ -34,11 +35,14 @@ public class PlaybackChooser {
}
public PlaybackChooser buildDisplay() {
appendCommand();
for (int i = 0; i < 10; i++) {
appendCommand();
}
m_playback = m_choosers.get(0);
nextChooser();
Shuffleboard.getTab("Auto Chooser")
.add("Add Sequence", new InstantCommand(() -> appendCommand()))
.add("Add Sequence", new InstantCommand(() -> {}))
.withPosition(4, 0);
return this;
}
@@ -46,29 +50,35 @@ public class PlaybackChooser {
// This will be bound to a button for the time being
public void appendCommand() {
var chooser = new SendableChooser<Command>();
chooser.setDefaultOption("No Auto", m_noAuto);
for (String auto : m_dir.list()) {
m_playback.addOption(auto, new JoystickPlayback(m_swerve, auto));
}
for (var cmd_name : m_commandPool.keySet()) {
chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
}
m_choosers.add(chooser);
Shuffleboard.getTab("Auto Chooser")
ComplexWidget widget = Shuffleboard.getTab("Auto Chooser")
.add("Command: " + m_choosers.size(), chooser)
.withSize(4, 1)
.withPosition(0, m_choosers.size() - 1)
.withWidget(BuiltInWidgets.kSplitButtonChooser);
m_widgets.add(widget);
}
public void nextChooser() {
SendableChooser<Command> chooser = m_choosers.get(m_cmdNum++);
for (String auto : m_dir.list()) {
chooser.addOption(auto, new JoystickPlayback(m_swerve, auto));
}
for (var cmd_name : m_commandPool.keySet()) {
chooser.addOption(cmd_name, m_commandPool.get(cmd_name));
}
}
public Command getCommand() {
Command command = m_playback.getSelected();
command = command == null ? m_noAuto : command.asProxy();
Command[] commands = new Command[m_choosers.size() - 1];
for (int i = 0; i < m_choosers.size()-1; i++) {
Command[] commands = new Command[m_cmdNum - 1];
for (int i = 0; i < m_cmdNum - 1; i++) {
Command command2 = m_choosers.get(i + 1).getSelected();
command2 = command2 == null ? m_noAuto : command2.asProxy();