auto shtuff

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" +
+// "0.0,0.0,0.0,0.0,340\n" +
+// "0.0,0.0,0.0,0.0,360\n" +
+// "0.0,0.0,0.0,0.0,379\n" +
+// "0.0,0.0,0.0,0.0,399\n" +
+// "0.0,0.0,0.0,0.0,419\n" +
+// "0.0,0.0,0.0,0.0,440\n" +
+// "0.0,0.0,0.0,0.0,459\n" +
+// "0.0,-0.109375,0.0,0.0,479\n" +
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+// "0.0,-0.1171875,0.0,0.0,680\n" +
+// "0.0,-0.1171875,0.0,0.0,699\n" +
+// "0.0,-0.1171875,0.0,0.0,721\n" +
+// "0.0,-0.1171875,0.0,0.0,769\n" +
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+// "0.0,-0.1328125,0.0,0.0,790\n" +
+// "0.0,-0.1328125,0.0,0.0,802\n" +
+// "0.0,-0.1328125,0.0,0.0,820\n" +
+// "0.0,-0.1328125,0.0,0.0,840\n" +
+// "0.0,-0.1328125,0.0,0.0,860\n" +
+// "0.0,-0.1328125,0.0,0.0,879\n" +
+// "0.0,-0.140625,0.0,0.0,899\n" +
+// "0.0,-0.171875,0.0,0.0,933\n" +
+// "0.0,-0.1875,0.0,0.0,944\n" +
+// "0.0,-0.1875,0.0,0.0,959\n" +
+// "0.0,-0.203125,0.0,0.0,979\n" +
+// "0.0,-0.203125,0.0,0.0,999\n" +
+// "0.0,-0.203125,0.0,0.0,1019\n" +
+// "0.0,-0.203125,0.0,0.0,1039\n" +
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+// "0.0,-0.4296875,0.0,0.0,2000\n" +
+// "0.0,-0.4296875,0.0,0.0,2019\n" +
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+// "0.0,0.0,0.0,0.0,15039\n" +
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+// "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

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;
     }
+
 }

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

src/main/java/frc4388/robot/commands/BlueNearDriveToChargeStation.txt

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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++;
   }