From c9a4274c82b009e4dd4c388790c04e4b72b54b48 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Fri, 10 Feb 2023 17:33:19 -0700
Subject: [PATCH] time

---
 .../java/frc4388/robot/commands/JoystickPlayback.java |  5 +++--
 .../java/frc4388/robot/commands/JoystickRecorder.java | 11 ++++++-----
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc4388/robot/commands/JoystickPlayback.java b/src/main/java/frc4388/robot/commands/JoystickPlayback.java
index d26a818..774cffa 100644
--- a/src/main/java/frc4388/robot/commands/JoystickPlayback.java
+++ b/src/main/java/frc4388/robot/commands/JoystickPlayback.java
@@ -62,12 +62,13 @@ public class JoystickPlayback extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    input.close();
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    input.close();
     return false;
   }
 }
diff --git a/src/main/java/frc4388/robot/commands/JoystickRecorder.java b/src/main/java/frc4388/robot/commands/JoystickRecorder.java
index d69eb6e..d658a6d 100644
--- a/src/main/java/frc4388/robot/commands/JoystickRecorder.java
+++ b/src/main/java/frc4388/robot/commands/JoystickRecorder.java
@@ -10,19 +10,21 @@ import java.nio.file.Path;
 import java.util.function.Supplier;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.utility.RobotTime;
 import frc4388.utility.controller.DeadbandedXboxController;
 
 public class JoystickRecorder extends CommandBase {
 
   DeadbandedXboxController joystick;
   Supplier<DeadbandedXboxController> joystickSupplier;
-
-  int numEntries = 0;
+  
+  RobotTime time;
 
   /** Creates a new JoystickRecorder. */
   public JoystickRecorder(Supplier<DeadbandedXboxController> joystickSupplier) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.joystickSupplier = joystickSupplier;
+    time = RobotTime.getInstance();
   }
 
   // Called when the command is initially scheduled.
@@ -40,8 +42,7 @@ public class JoystickRecorder extends CommandBase {
     double rightY = joystick.getRightY();
 
     try {
-      Files.writeString(Path.of("JoystickInputs.txt"), "leftX: " + leftX + ", " + "leftY: " + leftY + ", " + "rightX: " + rightX + ", " + "rightY: " + rightY);
-      numEntries = numEntries + 1;
+      Files.writeString(Path.of("JoystickInputs.txt"), "Time: " + time.m_robotTime + ", leftX: " + leftX + ", " + "leftY: " + leftY + ", " + "rightX: " + rightX + ", " + "rightY: " + rightY + "\n");
     } catch (IOException e) {
       e.printStackTrace();
     }
@@ -54,6 +55,6 @@ public class JoystickRecorder extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return numEntries > 10;
+    return false;
   }
 }