From d50cd6049624ff845f98ae0c15ab6377de0a63e5 Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Thu, 16 Feb 2023 19:07:55 -0700
Subject: [PATCH] Revert "commit (incomplete)"

This reverts commit 08224ddefaecbe6b1878c1584e356718f992a2a3.
---
 src/main/java/frc4388/robot/Robot.java        | 26 ++-----------------
 .../robot/commands/JoystickRecorder.java      |  8 +-----
 2 files changed, 3 insertions(+), 31 deletions(-)

diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java
index 79d9ade..2d6f348 100644
--- a/src/main/java/frc4388/robot/Robot.java
+++ b/src/main/java/frc4388/robot/Robot.java
@@ -10,7 +10,6 @@ package frc4388.robot;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc4388.robot.commands.JoystickRecorder;
 import frc4388.utility.RobotTime;
 
 /**
@@ -26,8 +25,6 @@ public class Robot extends TimedRobot {
   private RobotTime m_robotTime = RobotTime.getInstance();
   private RobotContainer m_robotContainer;
 
-  private JoystickRecorder m_joystickRecorder;
-  Runnable recorder;
 
   /**
    * This function is run when the robot is first started up and should be
@@ -96,9 +93,6 @@ public class Robot extends TimedRobot {
 
   @Override
   public void teleopInit() {
-
-    System.out.println("TELEOP INIT STARTING");
-
     m_robotContainer.m_robotSwerveDrive.resetGyro();
     // This makes sure that the autonomous stops running when
     // teleop starts running. If you want the autonomous to
@@ -109,30 +103,14 @@ public class Robot extends TimedRobot {
     }
     m_robotContainer.m_robotSwerveDrive.resetGyro();
     m_robotTime.startMatchTime();
-
-    m_joystickRecorder = new JoystickRecorder(m_robotContainer.m_robotSwerveDrive,
-                                              () -> m_robotContainer.getDeadbandedDriverController().getLeftX(),
-                                              () -> m_robotContainer.getDeadbandedDriverController().getLeftY(),
-                                              () -> m_robotContainer.getDeadbandedDriverController().getRightX(),
-                                              () -> m_robotContainer.getDeadbandedDriverController().getRightY()
-                                            );
-
-    m_joystickRecorder.initialize();
-
-    // recorder = () -> {
-    //   m_joystickRecorder.execute();
-    // };
-
-    addPeriodic(() -> {
-      m_joystickRecorder.execute();
-    }, 0.1);
   }
 
   /**
    * This function is called periodically during operator control.
    */
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+  }
 
   /**
    * This function is called periodically during test mode.
diff --git a/src/main/java/frc4388/robot/commands/JoystickRecorder.java b/src/main/java/frc4388/robot/commands/JoystickRecorder.java
index f3b1f53..2b3fd24 100644
--- a/src/main/java/frc4388/robot/commands/JoystickRecorder.java
+++ b/src/main/java/frc4388/robot/commands/JoystickRecorder.java
@@ -45,8 +45,6 @@ public class JoystickRecorder extends CommandBase {
     this.startTime = System.currentTimeMillis();
 
     outputs.add(new TimedOutput());
-
-    System.out.println("STARTING RECORDING");
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -64,15 +62,11 @@ public class JoystickRecorder extends CommandBase {
     swerve.driveWithInput(new Translation2d(inputs.leftX,  inputs.leftY),
                           new Translation2d(inputs.rightX, inputs.rightY),
                           true);
-    
-    System.out.println("RECORDING IN PROGRESS");
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    System.out.println("RECORDING ENDED");
-
     File output = new File("/home/lvuser/JoystickInputs.txt");
 
     try (PrintWriter writer = new PrintWriter(output)) {
@@ -91,6 +85,6 @@ public class JoystickRecorder extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return ((System.currentTimeMillis() - this.startTime) > 15000);
+    return false;
   }
 }