From de972faaeed4ddf4102d03cfa688d86acf2b782a Mon Sep 17 00:00:00 2001 From: Aarav Date: Sat, 25 Feb 2023 12:30:20 -0700 Subject: [PATCH] auto shtuff --- src/main/java/frc4388/robot/Robot.java | 779 ++++++++++++++++++ .../java/frc4388/robot/RobotContainer.java | 7 +- .../frc4388/robot/commands/AutoBalance.java | 2 +- .../commands/BlueNearDriveToChargeStation.txt | 758 +++++++++++++++++ .../robot/commands/JoystickPlayback.java | 16 +- 5 files changed, 1553 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 2d6f348..61a27d3 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -7,6 +7,11 @@ package frc4388.robot; +import java.io.File; +import java.io.IOException; +import java.io.PrintWriter; + +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; @@ -35,6 +40,8 @@ public class Robot extends TimedRobot { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. m_robotContainer = new RobotContainer(); + + } /** @@ -94,6 +101,778 @@ public class Robot extends TimedRobot { @Override public void teleopInit() { m_robotContainer.m_robotSwerveDrive.resetGyro(); + +// File auto = new File("/home/lvuser/BlueNearDriveToChargeStation.txt"); + +// try (PrintWriter writer = new PrintWriter(auto)) { +// writer.println( +// "0.0,0.0,0.0,0.0,0\n" + +// "0.0,0.0,0.0,0.0,0\n" + +// "0.0,0.0,0.0,0.0,20\n" + +// "0.0,0.0,0.0,0.0,40\n" + +// "0.0,0.0,0.0,0.0,60\n" + +// "0.0,0.0,0.0,0.0,79\n" + +// "0.0,0.0,0.0,0.0,99\n" + +// "0.0,0.0,0.0,0.0,119\n" + +// "0.0,0.0,0.0,0.0,139\n" + +// "0.0,0.0,0.0,0.0,160\n" + +// "0.0,0.0,0.0,0.0,180\n" + +// "0.0,0.0,0.0,0.0,200\n" + +// "0.0,0.0,0.0,0.0,220\n" + +// "0.0,0.0,0.0,0.0,239\n" + +// "0.0,0.0,0.0,0.0,260\n" + +// "0.0,0.0,0.0,0.0,280\n" + +// "0.0,0.0,0.0,0.0,300\n" + +// "0.0,0.0,0.0,0.0,319\n" + +// 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"0.03148045240972986,-0.999504367732367,0.0,0.0,14699\n" + +// "0.03148045240972986,-0.999504367732367,0.0,0.0,14719\n" + +// "0.031496062874794006,-0.9609375,0.0,0.0,14739\n" + +// "0.031496062874794006,-0.9609375,0.0,0.0,14759\n" + +// "0.031496062874794006,-0.9609375,0.0,0.0,14780\n" + +// "0.031496062874794006,-0.9609375,0.0,0.0,14799\n" + +// "0.031496062874794006,-0.953125,0.0,0.0,14820\n" + +// "0.031496062874794006,-0.9609375,0.0,0.0,14839\n" + +// "0.03148045240972986,-0.999504367732367,0.0,0.0,14860\n" + +// "0.03148045240972986,-0.999504367732367,0.0,0.0,14880\n" + +// "0.03148045240972986,-0.999504367732367,0.0,0.0,14900\n" + +// "0.03148045240972986,-0.999504367732367,0.0,0.0,14919\n" + +// "0.031496062874794006,-0.984375,0.0,0.0,14939\n" + +// "0.0,-0.3515625,0.0,0.0,14959\n" + +// "0.0,0.0,0.0,0.0,14980\n" + +// "0.0,0.0,0.0,0.0,14999\n" + +// "0.0,0.0,0.0,0.0,15019\n" + +// "0.0,0.0,0.0,0.0,15039\n" + +// "0.0,0.0,0.0,0.0,15059\n" + +// "0.0,0.0,0.0,0.0,15082\n" + +// "0.0,0.0,0.0,0.0,15099\n" + +// "0.0,0.0,0.0,0.0,15120\n" +// ); + +// writer.close(); + +// System.out.println("Writing Done."); +// } catch (IOException e) { +// e.printStackTrace(); +// } + // This makes sure that the autonomous stops running when // teleop starts running. If you want the autonomous to // continue until interrupted by another command, remove diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2982bf5..8412738 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -105,7 +105,7 @@ public class RobotContainer { .onFalse(new InstantCommand()); new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) - .onTrue(new JoystickPlayback(m_robotSwerveDrive)); + .onTrue(new JoystickPlayback(m_robotSwerveDrive, 1)); // * Operator Buttons } @@ -117,7 +117,9 @@ public class RobotContainer { */ public Command getAutonomousCommand() { - return new JoystickPlayback(m_robotSwerveDrive); + return new JoystickPlayback(m_robotSwerveDrive, 1) + .andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive)); + // return new InstantCommand(); } public DeadbandedXboxController getDeadbandedDriverController() { @@ -127,4 +129,5 @@ public class RobotContainer { public DeadbandedXboxController getDeadbandedOperatorController() { return this.m_operatorXbox; } + } diff --git a/src/main/java/frc4388/robot/commands/AutoBalance.java b/src/main/java/frc4388/robot/commands/AutoBalance.java index 714221d..a1c5910 100644 --- a/src/main/java/frc4388/robot/commands/AutoBalance.java +++ b/src/main/java/frc4388/robot/commands/AutoBalance.java @@ -35,7 +35,7 @@ public class AutoBalance extends PelvicInflammatoryDisease { public void runWithOutput(double output) { double out2 = MathUtil.clamp(output / 40, -.5, .5); if (Math.abs(getError()) < 3) out2 = 0; - drive.driveWithInput(new Translation2d(0, out2), new Translation2d(), true); + drive.driveWithInput(new Translation2d(0, out2), new Translation2d(), false); } @Override diff --git a/src/main/java/frc4388/robot/commands/BlueNearDriveToChargeStation.txt b/src/main/java/frc4388/robot/commands/BlueNearDriveToChargeStation.txt index e69de29..664216a 100644 --- 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b/src/main/java/frc4388/robot/commands/JoystickPlayback.java index f8dfb82..0d7facc 100644 --- a/src/main/java/frc4388/robot/commands/JoystickPlayback.java +++ b/src/main/java/frc4388/robot/commands/JoystickPlayback.java @@ -22,10 +22,12 @@ public class JoystickPlayback extends CommandBase { private long playbackTime = 0; private int lastIndex; private boolean m_finished = false; // ! find a better way + private int m_mult = 1; /** Creates a new JoystickPlayback. */ - public JoystickPlayback(SwerveDrive swerve) { + public JoystickPlayback(SwerveDrive swerve, int mult) { this.swerve = swerve; + m_mult = mult; addRequirements(this.swerve); } @@ -41,11 +43,16 @@ public class JoystickPlayback extends CommandBase { String line = ""; while (input.hasNextLine()) { line = input.nextLine(); + + if (line.isEmpty() || line.isBlank() || line.equals("\n")) { + continue; + } String[] values = line.split(","); + System.out.println("values: " + values[0] + " " + values[1] + " " + values[2] + " " + values[3]); var out = new TimedOutput(); - out.leftX = Double.parseDouble(values[0]); + out.leftX = Double.parseDouble(values[0]) * m_mult; out.leftY = Double.parseDouble(values[1]); out.rightX = Double.parseDouble(values[2]); out.rightY = Double.parseDouble(values[3]); @@ -59,8 +66,6 @@ public class JoystickPlayback extends CommandBase { } catch (FileNotFoundException e) { e.printStackTrace(); } - - System.out.println("STARTING PLAYBACK"); } // Called every time the scheduler runs while the command is scheduled. @@ -106,8 +111,7 @@ public class JoystickPlayback extends CommandBase { this.swerve.driveWithInput( new Translation2d(lerpLX, lerpLY), new Translation2d(lerpRX, lerpRY), true); - - System.out.println("PLAYING"); + counter++; }