Team4388/2023WayOfTheRobot
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aarav18
2023-02-13 18:26:00 -07:00
parent 1e79aa28ee
commit 9e9652faae
2 changed files with 6 additions and 42 deletions
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src/main/java/frc4388/robot/commands/JoystickPlayback.java
+6 -30
View File
@@ -23,10 +23,10 @@ import frc4388.utility.controller.DeadbandedXboxController;
public class JoystickPlayback extends CommandBase {
private static class TimedOutput {
public double leftX = 0d;
public double leftY = 0d;
public double rightX = 0d;
public double rightY = 0d;
public double leftX = 0.0;
public double leftY = 0.0;
public double rightX = 0.0;
public double rightY = 0.0;
public long timedOffset = 0;
}
@@ -81,9 +81,6 @@ public class JoystickPlayback extends CommandBase {
}
System.out.println("STARTING PLAYBACK");
System.out.println("STARTING PLAYBACK");
System.out.println("STARTING PLAYBACK");
System.out.println("STARTING PLAYBACK");
}
// Called every time the scheduler runs while the command is scheduled.
@@ -117,33 +114,11 @@ public class JoystickPlayback extends CommandBase {
double deltaTime = out.timedOffset - lastOut.timedOffset;
double playbackDelta = playbackTime - lastOut.timedOffset;
// System.out.println("LastOut.timedOffset: " + lastOut.timedOffset);
// System.out.println("PlaybackTime: " + playbackTime);
// System.out.println("PlaybackDelta: " + playbackDelta);
// System.out.println("DeltaTime: " + deltaTime);
// // double slopeLX = (out.leftX - lastOut.leftX) / deltaTime;
// // double slopeLY = (out.leftY - lastOut.leftY) / deltaTime;
// // double slopeRX = (out.rightX - lastOut.rightX) / deltaTime;
// // double slopeRY = (out.rightY - lastOut.rightY) / deltaTime;
double lerpLX = lastOut.leftX + (out.leftX - lastOut.leftX) * (playbackDelta / deltaTime);
double lerpLY = lastOut.leftY + (out.leftY - lastOut.leftY) * (playbackDelta / deltaTime);
double lerpRX = lastOut.rightX + (out.rightX - lastOut.rightX) * (playbackDelta / deltaTime);
double lerpRY = lastOut.rightY + (out.rightY - lastOut.rightY) * (playbackDelta / deltaTime);
// System.out.println("----------------------------");
// System.out.println("lerpLX: " + lerpLX);
// System.out.println("lerpLY: " + lerpLY);
// System.out.println("lerpRX: " + lerpRX);
// System.out.println("lerpRY: " + lerpRY);
// System.out.println("----------------------------");
// // double lerpLX = slopeLX * playbackTime + (lastOut.leftX - slopeLX * lastOut.timedOffset);
// // double lerpLY = slopeLY * playbackTime + (lastOut.leftY - slopeLY * lastOut.timedOffset);
// // double lerpRX = slopeRX * playbackTime + (lastOut.rightX - slopeRX * lastOut.timedOffset);
// // double lerpRY = slopeRY * playbackTime + (lastOut.rightY - slopeRY * lastOut.timedOffset);
// this.swerve.driveWithInput(new Translation2d(out.leftX, out.leftY),
// new Translation2d(out.rightX, out.rightY),
// true);
@@ -151,7 +126,8 @@ public class JoystickPlayback extends CommandBase {
this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
new Translation2d(lerpRX, lerpRY),
true);
// System.out.println("PLAYING");
System.out.println("PLAYING");
counter++;
}
src/main/java/frc4388/robot/commands/JoystickRecorder.java
-12
View File
@@ -7,17 +7,12 @@ package frc4388.robot.commands;
import java.io.File;
import java.io.IOException;
import java.io.PrintWriter;
import java.nio.file.Files;
import java.nio.file.Path;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.function.Supplier;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.RobotTime;
import frc4388.utility.controller.DeadbandedXboxController;
public class JoystickRecorder extends CommandBase {
@@ -56,9 +51,6 @@ public class JoystickRecorder extends CommandBase {
outputs.add(new Object[] {(double) 0.0, (double) 0.0, (double) 0.0, (double) 0.0, (long) 0});
System.out.println("STARTING RECORDING");
System.out.println("STARTING RECORDING");
System.out.println("STARTING RECORDING");
System.out.println("STARTING RECORDING");
}
// Called every time the scheduler runs while the command is scheduled.
@@ -89,10 +81,6 @@ public class JoystickRecorder extends CommandBase {
}
System.out.println("STOPPED RECORDING");
System.out.println("STOPPED RECORDING");
System.out.println("STOPPED RECORDING");
System.out.println("STOPPED RECORDING");
}
// Returns true when the command should end.