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Joystick Recorder with Operator

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This commit is contained in:
Abhishrek05
2023-10-26 17:41:02 -06:00
parent c16471688f
commit a44b74663e
1 changed files with 7 additions and 4 deletions
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src/main/java/frc4388/robot/commands/Swerve/JoystickRecorder.java
+7 -4
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@@ -15,25 +15,28 @@ import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.SwerveDrive; import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.UtilityStructs.TimedOutput; import frc4388.utility.UtilityStructs.TimedOutput;
import frc4388.utility.controller.XboxController; import frc4388.utility.controller.XboxController;
import frc4388.robot.subsystems.Arm;
public class JoystickRecorder extends CommandBase { public class JoystickRecorder extends CommandBase {
public final SwerveDrive swerve; public final SwerveDrive swerve;
public final XboxController driveXbox; public final XboxController driveXbox;
public final XboxController operatorXbox; public final XboxController operatorXbox;
public final Arm arm;
private String filename; private String filename;
public final ArrayList<TimedOutput> outputs = new ArrayList<>(); public final ArrayList<TimedOutput> outputs = new ArrayList<>();
private long startTime = -1; private long startTime = -1;
/** Creates a new JoystickRecorder. */ /** Creates a new JoystickRecorder. */
public JoystickRecorder(SwerveDrive swerve, XboxController driveXbox, public JoystickRecorder(SwerveDrive swerve, XboxController driveXbox,
XboxController operatorXbox, String filename) { XboxController operatorXbox, Arm arm, String filename) {
this.swerve = swerve; this.swerve = swerve;
this.driveXbox = driveXbox; this.driveXbox = driveXbox;
this.operatorXbox = operatorXbox; this.operatorXbox = operatorXbox;
this.arm = arm;
this.filename = filename; this.filename = filename;
addRequirements(this.swerve); addRequirements(this.swerve);
addRequirements(this.arm);
} }
// Called when the command is initially scheduled. // Called when the command is initially scheduled.