Team4388/2023WayOfTheRobot
1
0
Fork 0
mirror of https://github.com/Team4388/2023WayOfTheRobot.git synced 2026-06-09 08:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

auto shtuff

Browse Source
This commit is contained in:
Aarav
2023-02-25 12:30:20 -07:00
parent 70d38d4019
commit de972faaee
5 changed files with 1553 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/commands/JoystickPlayback.java
+10 -6
View File
@@ -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++;
}