mirror of
https://github.com/Team4388/2023WayOfTheRobot.git
synced 2026-06-09 08:38:02 -06:00
Merge branch 'master' into autonomous
This commit is contained in:
Aarav Shah
@@ -66,11 +66,11 @@ public final class Constants {
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public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11.0; // TODO: find the actual value
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public static final double JOYSTICK_TO_METERS_PER_SECOND_FAST = 11.0; // TODO: find the actual value
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public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 1.0; // TODO: find the actual value
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public static final double JOYSTICK_TO_METERS_PER_SECOND_SLOW = 1.0; // TODO: find the actual value
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public static final double MOTOR_REV_PER_WHEEL_REV = 6.12; // TODO: find the actual value
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public static final double MOTOR_REV_PER_WHEEL_REV = 5.12;
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public static final double MOTOR_REV_PER_STEER_REV = 12.8; // TODO: find the actual value
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public static final double MOTOR_REV_PER_STEER_REV = 12.8;
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public static final double TICKS_PER_MOTOR_REV = 2048;
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public static final double TICKS_PER_MOTOR_REV = 2048;
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public static final double WHEEL_DIAMETER_INCHES = 4.0; // TODO: the actual value
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public static final double WHEEL_DIAMETER_INCHES = 3.9;
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public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
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public static final double INCHES_PER_WHEEL_REV = WHEEL_DIAMETER_INCHES * Math.PI;
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public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
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public static final double WHEEL_REV_PER_MOTOR_REV = 1 / MOTOR_REV_PER_WHEEL_REV;
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@@ -108,8 +108,8 @@ public final class Constants {
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public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
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public static final double MAX_ANGULAR_SPEED_FEET_PER_SECOND = 2 * 2 * Math.PI; // TODO: find the actual value
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// dimensions
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// dimensions
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public static final double WIDTH = 18.5; // TODO: find the actual value
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public static final double WIDTH = 18.5;
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public static final double HEIGHT = 18.5; // TODO: find the actual value
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public static final double HEIGHT = 18.5;
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public static final double HALF_WIDTH = WIDTH / 2.d;
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public static final double HALF_WIDTH = WIDTH / 2.d;
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public static final double HALF_HEIGHT = HEIGHT / 2.d;
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public static final double HALF_HEIGHT = HEIGHT / 2.d;
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@@ -74,6 +74,7 @@ public class Robot extends TimedRobot {
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*/
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*/
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@Override
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@Override
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public void autonomousInit() {
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public void autonomousInit() {
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m_robotContainer.m_robotSwerveDrive.resetGyro();
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m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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// schedule the autonomous command (example)
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// schedule the autonomous command (example)
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@@ -92,6 +93,7 @@ public class Robot extends TimedRobot {
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@Override
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@Override
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public void teleopInit() {
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public void teleopInit() {
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m_robotContainer.m_robotSwerveDrive.resetGyro();
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// This makes sure that the autonomous stops running when
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// This makes sure that the autonomous stops running when
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// teleop starts running. If you want the autonomous to
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// teleop starts running. If you want the autonomous to
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// continue until interrupted by another command, remove
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// continue until interrupted by another command, remove
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@@ -99,6 +101,7 @@ public class Robot extends TimedRobot {
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if (m_autonomousCommand != null) {
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if (m_autonomousCommand != null) {
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m_autonomousCommand.cancel();
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m_autonomousCommand.cancel();
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}
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}
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m_robotContainer.m_robotSwerveDrive.resetGyro();
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m_robotTime.startMatchTime();
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m_robotTime.startMatchTime();
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}
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}
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@@ -34,9 +34,10 @@ import frc4388.robot.Constants.*;
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import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
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import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
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import frc4388.robot.Constants.SwerveDriveConstants.PIDConstants;
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import frc4388.robot.Constants.SwerveDriveConstants.PIDConstants;
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import frc4388.robot.commands.AutoBalance;
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import frc4388.robot.commands.AutoBalance;
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import frc4388.robot.commands.JoystickPlayback;
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import frc4388.robot.commands.JoystickRecorder;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.IHandController;
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import frc4388.utility.controller.XboxController;
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import frc4388.utility.controller.XboxController;
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/**
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/**
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@@ -51,14 +52,13 @@ public class RobotContainer {
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public final RobotMap m_robotMap = new RobotMap();
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public final RobotMap m_robotMap = new RobotMap();
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/* Subsystems */
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/* Subsystems */
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack, m_robotMap.gyro);
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public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
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// private final LED m_robotLED = new LED(m_robotMap.LEDController);
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m_robotMap.rightFront,
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m_robotMap.leftBack,
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m_robotMap.rightBack,
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m_robotMap.gyro);
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/* Controllers */
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/* Controllers */
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// private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
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// private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
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@@ -68,15 +68,13 @@ public class RobotContainer {
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public RobotContainer() {
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public RobotContainer() {
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configureButtonBindings();
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configureButtonBindings();
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/* Default Commands */
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// * Default Commands
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m_robotSwerveDrive.setDefaultCommand(new RunCommand(() -> {
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m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
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m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(),
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m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
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getDeadbandedDriverController().getRight(),
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, m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
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true);
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}, m_robotSwerveDrive)
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// m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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.withName("SwerveDrive DefaultCommand"));
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}
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}
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@@ -87,8 +85,7 @@ public class RobotContainer {
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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*/
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private void configureButtonBindings() {
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private void configureButtonBindings() {
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/* Driver Buttons */
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// * Driver Buttons
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
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@@ -99,10 +96,18 @@ public class RobotContainer {
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new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
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.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
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.onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
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// /* Operator Buttons */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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// // interrupt button
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.whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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// new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
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() -> getDeadbandedDriverController().getLeftX(),
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// .onTrue(new InstantCommand());
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() -> getDeadbandedDriverController().getLeftY(),
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() -> getDeadbandedDriverController().getRightX(),
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() -> getDeadbandedDriverController().getRightY()))
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.onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(new JoystickPlayback(m_robotSwerveDrive));
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// * Operator Buttons
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}
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}
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/**
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/**
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@@ -177,13 +182,6 @@ public class RobotContainer {
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new InstantCommand(() -> m_robotSwerveDrive.stopModules()));
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new InstantCommand(() -> m_robotSwerveDrive.stopModules()));
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}
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}
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/**
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* Add your docs here.
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*/
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// public IHandController getDriverController() {
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// return m_driverXbox;
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// }
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public DeadbandedXboxController getDeadbandedDriverController() {
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public DeadbandedXboxController getDeadbandedDriverController() {
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return this.m_driverXbox;
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return this.m_driverXbox;
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||||||
}
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}
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@@ -191,25 +189,4 @@ public class RobotContainer {
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|||||||
public DeadbandedXboxController getDeadbandedOperatorController() {
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public DeadbandedXboxController getDeadbandedOperatorController() {
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return this.m_operatorXbox;
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return this.m_operatorXbox;
|
||||||
}
|
}
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|
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/**
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|
||||||
* Add your docs here.
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|
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*/
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// public IHandController getOperatorController() {
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// return m_operatorXbox;
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// }
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/**
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|
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* Add your docs here.
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*/
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// public Joystick getOperatorJoystick() {
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// return m_operatorXbox.getJoyStick();
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// }
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|
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/**
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* Add your docs here.
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*/
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|
||||||
// public Joystick getDriverJoystick() {
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// return m_driverXbox.getJoyStick();
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// }
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}
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}
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@@ -0,0 +1,887 @@
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||||||
|
0.3779527544975281,0.29921260476112366,0.0,0.0,14961
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0.3779527544975281,0.29921260476112366,0.0,0.0,14980
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||||||
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0.3779527544975281,0.29921260476112366,0.0,0.0,15000
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||||||
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0.3779527544975281,0.29921260476112366,0.0,0.0,15020
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0.3779527544975281,0.30708661675453186,0.0,0.0,15040
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||||||
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0.3779527544975281,0.32283464074134827,0.0,0.0,15060
|
||||||
|
0.3700787425041199,0.33070865273475647,0.0,0.0,15080
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||||||
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0.3700787425041199,0.33070865273475647,0.0,0.0,15100
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||||||
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0.3700787425041199,0.33070865273475647,0.0,0.0,15120
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||||||
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0.36220473051071167,0.33070865273475647,0.0,0.0,15140
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0.36220473051071167,0.33070865273475647,0.0,0.0,15160
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0.36220473051071167,0.33070865273475647,0.0,0.0,15180
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0.36220473051071167,0.3385826647281647,0.0,0.0,15200
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0.36220473051071167,0.3385826647281647,0.0,0.0,15220
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|
0.36220473051071167,0.3385826647281647,0.0,0.0,15240
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0.36220473051071167,0.3385826647281647,0.0,0.0,15260
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0.36220473051071167,0.33070865273475647,0.0,0.0,15280
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0.36220473051071167,0.33070865273475647,0.0,0.0,15300
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|
0.36220473051071167,0.33070865273475647,0.0,0.0,15320
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0.36220473051071167,0.33070865273475647,0.0,0.0,15340
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0.36220473051071167,0.33070865273475647,0.0,0.0,15360
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0.36220473051071167,0.33070865273475647,0.0,0.0,15380
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|
0.36220473051071167,0.33070865273475647,0.0,0.0,15400
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|
0.36220473051071167,0.33070865273475647,0.0,0.0,15420
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0.36220473051071167,0.33070865273475647,0.0,0.0,15440
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0.36220473051071167,0.30708661675453186,0.0,0.0,15460
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0.36220473051071167,0.26771652698516846,0.0,0.0,15480
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0.36220473051071167,0.25984251499176025,0.0,0.0,15500
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0.36220473051071167,0.24409449100494385,0.0,0.0,15520
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0.36220473051071167,0.24409449100494385,0.0,0.0,15540
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0.36220473051071167,0.22834645211696625,0.0,0.0,15560
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||||||
|
0.36220473051071167,0.22047244012355804,0.0,0.0,15580
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||||||
|
0.36220473051071167,0.22047244012355804,0.0,0.0,15600
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||||||
|
0.36220473051071167,0.22047244012355804,0.0,0.0,15621
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|
0.36220473051071167,0.20472441613674164,0.0,0.0,15640
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15660
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15681
|
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|
0.36220473051071167,0.19685038924217224,0.0,0.0,15700
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15720
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15740
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15760
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15780
|
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|
0.36220473051071167,0.19685038924217224,0.0,0.0,15800
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15821
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15841
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15860
|
||||||
|
0.36220473051071167,0.19685038924217224,0.0,0.0,15880
|
||||||
|
0.36220473051071167,0.20472441613674164,0.0,0.0,15900
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,15922
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,15940
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,15960
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,15980
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,16000
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,16021
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,16040
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,16061
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,16080
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,16100
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,16120
|
||||||
|
0.36220473051071167,0.26771652698516846,0.0,0.0,16140
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16160
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16180
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16200
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16220
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16240
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16260
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16280
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||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16300
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16320
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16340
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16362
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16380
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16400
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16420
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16440
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16460
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16480
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16500
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16520
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16540
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16560
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16580
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16600
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16620
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16640
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16660
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16680
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16700
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16720
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16740
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16760
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16780
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16800
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16820
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16840
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16860
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16880
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16900
|
||||||
|
0.36220473051071167,0.27559053897857666,0.0,0.0,16920
|
||||||
|
0.36220473051071167,0.23622047901153564,0.0,0.0,16940
|
||||||
|
0.29133859276771545,0.18110236525535583,0.0,0.0,16960
|
||||||
|
0.18897637724876404,0.13385826349258423,0.0,0.0,16980
|
||||||
|
0.0,0.0,0.0,0.0,17000
|
||||||
|
0.0,0.0,0.0,0.0,17020
|
||||||
|
0.0,0.0,0.0,0.0,17040
|
||||||
|
0.0,0.0,0.0,0.0,17060
|
||||||
|
0.0,0.0,0.0,0.0,17080
|
||||||
|
0.0,0.0,0.0,0.0,17100
|
||||||
|
0.0,0.0,0.0,0.0,17120
|
||||||
|
0.0,0.0,0.0,0.0,17140
|
||||||
|
0.0,0.0,0.0,0.0,17160
|
||||||
|
0.0,0.0,0.0,0.0,17180
|
||||||
|
0.0,0.0,0.0,0.0,17200
|
||||||
|
0.0,0.0,0.0,0.0,17220
|
||||||
|
0.0,0.0,0.0,0.0,17240
|
||||||
|
0.0,0.0,0.0,0.0,17260
|
||||||
|
0.0,0.0,0.0,0.0,17280
|
||||||
|
0.0,0.0,0.0,0.0,17300
|
||||||
|
0.0,0.0,0.0,0.0,17320
|
||||||
|
0.0,0.0,0.0,0.0,17341
|
||||||
|
0.0,0.0,0.0,0.0,17360
|
||||||
|
0.0,0.0,0.0,0.0,17380
|
||||||
|
0.0,0.0,0.0,0.0,17400
|
||||||
|
0.0,0.0,0.0,0.0,17420
|
||||||
|
0.0,0.0,0.0,0.0,17440
|
||||||
|
0.0,0.0,0.0,0.0,17460
|
||||||
|
0.0,0.0,0.0,0.0,17480
|
||||||
|
0.0,0.0,0.0,0.0,17500
|
||||||
|
0.0,0.0,0.0,0.0,17520
|
||||||
|
0.0,0.0,0.0,0.0,17540
|
||||||
|
0.0,0.0,0.0,0.0,17560
|
||||||
|
0.0,0.0,0.0,0.0,17580
|
||||||
|
0.0,0.0,0.0,0.0,17600
|
||||||
|
0.0,0.0,0.0,0.0,17620
|
||||||
|
0.0,0.0,0.0,0.0,17642
|
||||||
|
0.0,0.0,0.0,0.0,17660
|
||||||
|
0.0,0.0,0.0,0.0,17680
|
||||||
|
0.0,0.0,0.0,0.0,17700
|
||||||
@@ -0,0 +1,126 @@
|
|||||||
|
// Copyright (c) FIRST and other WPILib contributors.
|
||||||
|
// Open Source Software; you can modify and/or share it under the terms of
|
||||||
|
// the WPILib BSD license file in the root directory of this project.
|
||||||
|
|
||||||
|
package frc4388.robot.commands;
|
||||||
|
|
||||||
|
import java.io.File;
|
||||||
|
import java.io.FileNotFoundException;
|
||||||
|
import java.util.ArrayList;
|
||||||
|
import java.util.Scanner;
|
||||||
|
import edu.wpi.first.math.geometry.Translation2d;
|
||||||
|
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||||
|
import frc4388.robot.subsystems.SwerveDrive;
|
||||||
|
import frc4388.utility.UtilityStructs.TimedOutput;
|
||||||
|
|
||||||
|
public class JoystickPlayback extends CommandBase {
|
||||||
|
private final SwerveDrive swerve;
|
||||||
|
private Scanner input;
|
||||||
|
private final ArrayList<TimedOutput> outputs = new ArrayList<>();
|
||||||
|
private int counter = 0;
|
||||||
|
private long startTime = 0;
|
||||||
|
private long playbackTime = 0;
|
||||||
|
private int lastIndex;
|
||||||
|
private boolean m_finished = false; // ! find a better way
|
||||||
|
|
||||||
|
/** Creates a new JoystickPlayback. */
|
||||||
|
public JoystickPlayback(SwerveDrive swerve) {
|
||||||
|
this.swerve = swerve;
|
||||||
|
addRequirements(this.swerve);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Called when the command is initially scheduled.
|
||||||
|
@Override
|
||||||
|
public void initialize() {
|
||||||
|
startTime = System.currentTimeMillis();
|
||||||
|
playbackTime = 0;
|
||||||
|
lastIndex = 0;
|
||||||
|
try {
|
||||||
|
input = new Scanner(new File("/home/lvuser/JoystickInputs.txt"));
|
||||||
|
|
||||||
|
String line = "";
|
||||||
|
while (input.hasNextLine()) {
|
||||||
|
line = input.nextLine();
|
||||||
|
|
||||||
|
String[] values = line.split(",");
|
||||||
|
|
||||||
|
var out = new TimedOutput();
|
||||||
|
out.leftX = Double.parseDouble(values[0]);
|
||||||
|
out.leftY = Double.parseDouble(values[1]);
|
||||||
|
out.rightX = Double.parseDouble(values[2]);
|
||||||
|
out.rightY = Double.parseDouble(values[3]);
|
||||||
|
|
||||||
|
out.timedOffset = Long.parseLong(values[4]);
|
||||||
|
|
||||||
|
outputs.add(out);
|
||||||
|
}
|
||||||
|
|
||||||
|
input.close();
|
||||||
|
} catch (FileNotFoundException e) {
|
||||||
|
e.printStackTrace();
|
||||||
|
}
|
||||||
|
|
||||||
|
System.out.println("STARTING PLAYBACK");
|
||||||
|
}
|
||||||
|
|
||||||
|
// Called every time the scheduler runs while the command is scheduled.
|
||||||
|
@Override
|
||||||
|
public void execute() {
|
||||||
|
if (counter == 0) {
|
||||||
|
startTime = System.currentTimeMillis();
|
||||||
|
playbackTime = 0;
|
||||||
|
} else {
|
||||||
|
playbackTime = System.currentTimeMillis() - startTime;
|
||||||
|
}
|
||||||
|
|
||||||
|
// skip to reasonable time frame
|
||||||
|
// too tired to write comment: ask daniel thomas; it goes to the thing until it's bigger than the other thing
|
||||||
|
{
|
||||||
|
int i = lastIndex == 0 ? 1 : lastIndex;
|
||||||
|
while (i < outputs.size() && outputs.get(i).timedOffset < playbackTime) {
|
||||||
|
i++;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (i >= outputs.size()) {
|
||||||
|
m_finished = true; // ! kind of a hack
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
lastIndex = i;
|
||||||
|
}
|
||||||
|
|
||||||
|
TimedOutput lastOut = outputs.get(lastIndex - 1);
|
||||||
|
TimedOutput out = outputs.get(lastIndex);
|
||||||
|
|
||||||
|
double deltaTime = out.timedOffset - lastOut.timedOffset;
|
||||||
|
double playbackDelta = playbackTime - lastOut.timedOffset;
|
||||||
|
|
||||||
|
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);
|
||||||
|
|
||||||
|
// this.swerve.driveWithInput(new Translation2d(out.leftX, out.leftY),
|
||||||
|
// new Translation2d(out.rightX, out.rightY),
|
||||||
|
// true);
|
||||||
|
|
||||||
|
this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY),
|
||||||
|
new Translation2d(lerpRX, lerpRY),
|
||||||
|
true);
|
||||||
|
|
||||||
|
System.out.println("PLAYING");
|
||||||
|
counter++;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Called once the command ends or is interrupted.
|
||||||
|
@Override
|
||||||
|
public void end(boolean interrupted) {
|
||||||
|
input.close();
|
||||||
|
swerve.stopModules();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Returns true when the command should end.
|
||||||
|
@Override
|
||||||
|
public boolean isFinished() {
|
||||||
|
return m_finished;
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,90 @@
|
|||||||
|
// Copyright (c) FIRST and other WPILib contributors.
|
||||||
|
// Open Source Software; you can modify and/or share it under the terms of
|
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot.commands;
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import java.io.File;
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import java.io.IOException;
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import java.io.PrintWriter;
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import java.util.ArrayList;
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import java.util.function.Supplier;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.wpilibj2.command.CommandBase;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.utility.UtilityStructs.TimedOutput;
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public class JoystickRecorder extends CommandBase {
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public final SwerveDrive swerve;
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public final Supplier<Double> leftX;
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public final Supplier<Double> leftY;
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public final Supplier<Double> rightX;
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public final Supplier<Double> rightY;
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public final ArrayList<TimedOutput> outputs = new ArrayList<>();
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private long startTime = -1;
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/** Creates a new JoystickRecorder. */
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public JoystickRecorder(SwerveDrive swerve, Supplier<Double> leftX, Supplier<Double> leftY,
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Supplier<Double> rightX, Supplier<Double> rightY)
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{
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this.swerve = swerve;
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this.leftX = leftX;
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this.leftY = leftY;
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this.rightX = rightX;
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this.rightY = rightY;
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addRequirements(this.swerve);
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}
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// Called when the command is initially scheduled.
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@Override
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public void initialize() {
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this.startTime = System.currentTimeMillis();
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outputs.add(new TimedOutput());
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}
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// Called every time the scheduler runs while the command is scheduled.
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@Override
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public void execute() {
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var inputs = new TimedOutput();
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inputs.leftX = leftX.get();
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inputs.leftY = leftY.get();
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inputs.rightX = rightX.get();
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inputs.rightY = rightY.get();
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inputs.timedOffset = System.currentTimeMillis() - startTime;
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outputs.add(inputs);
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swerve.driveWithInput(new Translation2d(inputs.leftX, inputs.leftY),
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new Translation2d(inputs.rightX, inputs.rightY),
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true);
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}
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// Called once the command ends or is interrupted.
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@Override
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public void end(boolean interrupted) {
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File output = new File("/home/lvuser/JoystickInputs.txt");
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try (PrintWriter writer = new PrintWriter(output)) {
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for (var input : outputs) {
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writer.println( input.leftX + "," + input.leftY + "," +
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input.rightX + "," + input.rightY + "," +
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input.timedOffset);
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}
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writer.close();
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} catch (IOException e) {
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e.printStackTrace();
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}
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}
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// Returns true when the command should end.
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@Override
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public boolean isFinished() {
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return false;
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}
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}
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@@ -206,6 +206,12 @@ public class SwerveDrive extends SubsystemBase {
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setPoseEstimator(new Pose2d());
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setPoseEstimator(new Pose2d());
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}
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}
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public void stopModules() {
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for (SwerveModule module : this.modules) {
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module.stop();
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}
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}
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/**
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/**
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* Resets the odometry of the SwerveDrive to 0.
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* Resets the odometry of the SwerveDrive to 0.
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* *NOTE: If you reset your gyro, this method MUST be called with the new gyro angle and wheel encoder positions.
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* *NOTE: If you reset your gyro, this method MUST be called with the new gyro angle and wheel encoder positions.
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@@ -221,14 +227,17 @@ public class SwerveDrive extends SubsystemBase {
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@Override
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@Override
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public void periodic() {
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public void periodic() {
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// This method will be called once per scheduler run
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// This method will be called once per scheduler run
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// updateOdometry();
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// updateOdometry();
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updatePoseEstimator();
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updatePoseEstimator();
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// SmartDashboard.putNumber("Odo X", getOdometry().getX());
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SmartDashboard.putNumber("Odo X (ft)", Units.metersToFeet(this.getOdometry().getX()));
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// SmartDashboard.putNumber("Odo Y", getOdometry().getY());
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SmartDashboard.putNumber("Odo Y (ft)", Units.metersToFeet(this.getOdometry().getY()));
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// SmartDashboard.putNumber("Odo Theta", getOdometry().getRotation().getDegrees());
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SmartDashboard.putNumber("Odo Theta", this.getOdometry().getRotation().getDegrees());
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SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
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SmartDashboard.putNumber("rotTarget", this.rotTarget.getDegrees());
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// SmartDashboard.putNumber("Gyro Angle", getGyroAngle());
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}
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}
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/**
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/**
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@@ -0,0 +1,12 @@
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package frc4388.utility;
|
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public class UtilityStructs {
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public static class TimedOutput {
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public double leftX = 0.0;
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public double leftY = 0.0;
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public double rightX = 0.0;
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public double rightY = 0.0;
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public long timedOffset = 0;
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}
|
||||||
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}
|
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Reference in New Issue
Block a user