Team4388/2023WayOfTheRobot
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Aarav
2023-02-25 13:29:52 -07:00
parent f6b8c6e3f0
commit e7d4e41391
6 changed files with 522 additions and 767 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -7
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@@ -70,12 +70,13 @@ public class RobotContainer {
private Command balance = new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive);
private Command blue1Path = new JoystickPlayback(m_robotSwerveDrive, "BlueNearDriveToChargeStation.txt");
private Command blue1PathWithBalance = blue1Path.andThen(balance);
private Command blue1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt");
private Command blue1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt").andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
private Command red1Path = new JoystickPlayback(m_robotSwerveDrive, "BlueNearDriveToChargeStation.txt", -1);
private Command red1PathWithBalance = red1Path.andThen(balance);
private Command red1Path = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1);
private Command red1PathWithBalance = new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt", -1).andThen(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -99,6 +100,8 @@ public class RobotContainer {
chooser.addOption("Red1Path", red1Path);
chooser.addOption("Red1PathWithBalance", red1PathWithBalance);
chooser.addOption("Taxi", taxi);
SmartDashboard.putData(chooser);
}
@@ -127,11 +130,12 @@ public class RobotContainer {
() -> getDeadbandedDriverController().getLeftX(),
() -> getDeadbandedDriverController().getLeftY(),
() -> getDeadbandedDriverController().getRightX(),
() -> getDeadbandedDriverController().getRightY()))
() -> getDeadbandedDriverController().getRightY(),
"Blue1Path.txt"))
.onFalse(new InstantCommand());
// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
// .onTrue(new JoystickPlayback(m_robotSwerveDrive, 1));
new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Blue1Path.txt"));
// * Operator Buttons
}
src/main/java/frc4388/robot/commands/Blue1Path.txt
+150
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@@ -0,0 +1,150 @@
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src/main/java/frc4388/robot/commands/BlueNearDriveToChargeStation.txt
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src/main/java/frc4388/robot/commands/FarDriveToChargeStation
View File
src/main/java/frc4388/robot/commands/JoystickRecorder.java
+5 -2
View File
@@ -22,19 +22,22 @@ public class JoystickRecorder extends CommandBase {
public final Supplier<Double> leftY;
public final Supplier<Double> rightX;
public final Supplier<Double> rightY;
private String filename;
public final ArrayList<TimedOutput> outputs = new ArrayList<>();
private long startTime = -1;
/** Creates a new JoystickRecorder. */
public JoystickRecorder(SwerveDrive swerve, Supplier<Double> leftX, Supplier<Double> leftY,
Supplier<Double> rightX, Supplier<Double> rightY)
Supplier<Double> rightX, Supplier<Double> rightY,
String filename)
{
this.swerve = swerve;
this.leftX = leftX;
this.leftY = leftY;
this.rightX = rightX;
this.rightY = rightY;
this.filename = filename;
addRequirements(this.swerve);
}
@@ -67,7 +70,7 @@ public class JoystickRecorder extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
File output = new File("/home/lvuser/BlueNearDriveToChargeStation.txt");
File output = new File("/home/lvuser/" + filename);
try (PrintWriter writer = new PrintWriter(output)) {
for (var input : outputs) {
src/main/java/frc4388/robot/commands/Taxi.txt
+356
View File
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