mirror of
https://github.com/Team4388/2024AcrossTheRidgebotiverse.git
synced 2026-06-09 08:48:03 -06:00
commit Neo AutoRecording code, needs polish.
This commit is contained in:
C4llSiqn
@@ -84,7 +84,7 @@ public class Robot extends TimedRobot {
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*/
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@Override
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public void autonomousInit() {
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// m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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// /*
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// * String autoSelected = SmartDashboard.getString("Auto Selector",
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@@ -93,11 +93,11 @@ public class Robot extends TimedRobot {
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// * autonomousCommand = new ExampleCommand(); break; }
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// */
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// // schedule the autonomous command (example)
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// if (m_autonomousCommand != null) {
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// m_autonomousCommand.schedule();
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// }
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// m_robotTime.startMatchTime();
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// schedule the autonomous command (example)
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if (m_autonomousCommand != null) {
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m_autonomousCommand.schedule();
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}
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m_robotTime.startMatchTime();
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}
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/**
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@@ -10,16 +10,16 @@ package frc4388.robot;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.GenericHID;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.ConditionalCommand;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.OIConstants;
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import frc4388.robot.commands.Autos.PlaybackChooser;
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import frc4388.robot.commands.Swerve.JoystickPlayback;
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import frc4388.robot.commands.Swerve.JoystickRecorder;
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//import frc4388.robot.commands.Swerve.JoystickPlayback;
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//import frc4388.robot.commands.Swerve.JoystickRecorder;
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import frc4388.robot.commands.Swerve.neoJoystickPlayback;
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import frc4388.robot.commands.Swerve.neoJoystickRecorder;
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import frc4388.robot.commands.Intake.ArmIntakeIn;
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import frc4388.robot.subsystems.LED;
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import frc4388.robot.subsystems.Limelight;
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@@ -27,6 +27,7 @@ import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.Intake;
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import frc4388.utility.controller.DeadbandedXboxController;
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import frc4388.utility.controller.VirtualController;
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import frc4388.utility.controller.XboxController;
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/**
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@@ -59,6 +60,10 @@ public class RobotContainer {
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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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/* Virtual Controllers */
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private final VirtualController m_virtualDriver = new VirtualController(0);
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private final VirtualController m_virtualOperator = new VirtualController(1);
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private Limelight limelight = new Limelight();
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private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
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@@ -82,9 +87,9 @@ public class RobotContainer {
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);
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/* Autos */
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private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private Command startLeftMoveRight = new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
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private Command startRightMoveLeft = new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
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private Command taxi = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
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private Command startLeftMoveRight = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartLeftMoveRight.txt");
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private Command startRightMoveLeft = new InstantCommand(); // new JoystickPlayback(m_robotSwerveDrive, "StartRightMoveLeft.txt");
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private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
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ejectToShoot.asProxy(),
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@@ -139,11 +144,17 @@ public class RobotContainer {
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*/
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private void configureButtonBindings() {
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/* Driver Buttons */
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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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// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
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// .onTrue(new InstantCommand(() -> getVirtualDriverController().setOutput(XboxController.A_BUTTON, true)))
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// .onFalse(new InstantCommand(() -> getVirtualDriverController().setOutput(XboxController.A_BUTTON, false)));
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// new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
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// //.onTrue(new InstantCommand(() -> System.out.println("Hello")));
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// .onTrue(new InstantCommand(() -> getVirtualDriverController().setRumble(RumbleType.kBothRumble, 1.0)))
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// .onFalse(new InstantCommand(() -> getVirtualDriverController().setRumble(RumbleType.kBothRumble, 0.0)));
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/* Auto Recording */
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .whileTrue(new JoystickRecorder(m_robotSwerveDrive,
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@@ -154,52 +165,79 @@ public class RobotContainer {
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// "IntenseTaxi.txt"))
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// .onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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.onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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.onFalse(new InstantCommand());
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// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
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// .onTrue(new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt"))
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// .onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON)
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.whileTrue(new neoJoystickRecorder(m_robotSwerveDrive,
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new DeadbandedXboxController[]{getDeadbandedDriverController(), getDeadbandedOperatorController()},
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"sample.auto"))
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.onFalse(new InstantCommand());
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(new neoJoystickPlayback(m_robotSwerveDrive,
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"sample.auto",
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new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
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true, false))
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.onFalse(new InstantCommand());
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new JoystickButton(getVirtualDriverController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> System.out.println("Pressed A")))
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.onFalse(new InstantCommand(() -> System.out.println("Released A")));
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new JoystickButton(getVirtualDriverController(), XboxController.B_BUTTON)
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.onTrue(new InstantCommand(() -> System.out.println("Pressed B")))
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.onFalse(new InstantCommand(() -> System.out.println("Released B")));
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new JoystickButton(getVirtualDriverController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> System.out.println("Pressed X")))
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.onFalse(new InstantCommand(() -> System.out.println("Released X")));
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new JoystickButton(getVirtualDriverController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> System.out.println("Pressed Y")))
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.onFalse(new InstantCommand(() -> System.out.println("Released Y")));
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/* Speed */
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new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.RIGHT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUp()));
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// // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.setToFast()));
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new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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.onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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// new JoystickButton(getDeadbandedDriverController(), XboxController.LEFT_BUMPER_BUTTON) // final
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// .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftDown()));
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/* Operator Buttons */
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new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
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// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
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.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
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// .onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
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// Override Intake Position encoder: out
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new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
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// // Override Intake Position encoder: out
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
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// Override Intake Position encoder: in
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new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
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// // Override Intake Position encoder: in
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
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//Spin Shooter Motors
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new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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.onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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.onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
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// //Spin Shooter Motors
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
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// .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
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// .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
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new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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.onTrue(ejectToShoot)
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.onFalse(turnOffShoot);
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
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// .onTrue(ejectToShoot)
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// .onFalse(turnOffShoot);
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new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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.onTrue(i)
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.onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
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// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
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// .onTrue(i)
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// .onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
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}
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@@ -210,7 +248,8 @@ public class RobotContainer {
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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//no auto
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//no auto
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return playbackChooser.getCommand();
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}
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@@ -224,4 +263,12 @@ public class RobotContainer {
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public DeadbandedXboxController getDeadbandedOperatorController() {
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return this.m_operatorXbox;
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}
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public VirtualController getVirtualDriverController() {
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return m_virtualDriver;
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}
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public VirtualController getVirtualOperatorController() {
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return m_virtualOperator;
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}
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}
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@@ -0,0 +1,20 @@
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AUTO file format
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HEADER static size 0x5
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0x00 BYTE NUM AXES: defualts to 6
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0x01 BYTE NUM POV: defualts to 1
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0x02 BYTE NUM CONTROLLERS: defualts to 2
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0x03 SHORT FRAMES: any value greator or equal than one.
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FRAME PER CONTROLLER: defualt size 0x34
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0x00 DOUBLE AXES[NUM AXES]
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0x30 SHORT BUTTONS
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0x32 SHORT POVs[NUM POV]
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FRAME: size varrys
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FRAME PER CONTROLLER[NUM CONTROLLERS]
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INT UNIXTIMESTAMP
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FILE:
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HEADER
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FRAME[FRAMES]
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@@ -102,7 +102,7 @@ public class JoystickPlayback extends Command {
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return;
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}
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lastIndex = i;
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}
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} // Why is this done rather than using the variable counter
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TimedOutput lastOut = outputs.get(lastIndex - 1);
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TimedOutput out = outputs.get(lastIndex);
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@@ -0,0 +1,145 @@
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package frc4388.robot.commands.Swerve;
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import java.io.FileInputStream;
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import java.util.ArrayList;
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import edu.wpi.first.math.geometry.Translation2d;
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import edu.wpi.first.wpilibj2.command.Command;
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import frc4388.robot.subsystems.SwerveDrive;
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import frc4388.utility.DataUtils;
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import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
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import frc4388.utility.UtilityStructs.AutoRecordingFrame;
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import frc4388.utility.controller.VirtualController;
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public class neoJoystickPlayback extends Command {
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private final SwerveDrive swerve;
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private final String filename;
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private final VirtualController[] controllers;
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private final ArrayList<AutoRecordingFrame> frames = new ArrayList<>();
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private int frame_index = 0;
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private long startTime = 0;
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private long playbackTime = 0;
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private boolean m_finished = false; // ! There is no better way.
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private boolean m_shouldfree = false; // should free memory on ending
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private byte m_numAxes = 0;
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private byte m_numPOVs = 0;
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private byte m_numControllers = 0;
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private short m_numFrames = -1;
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public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
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this.swerve = swerve;
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this.filename = filename;
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this.controllers = controllers;
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this.m_shouldfree = shouldfree;
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if (instantload) loadAuto();
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addRequirements(this.swerve);
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}
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public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers) {
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this(swerve, filename, controllers, true, false);
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}
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public boolean loadAuto() {
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try (FileInputStream stream = new FileInputStream("./" + filename)) {
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if (m_numFrames != -1 && m_numFrames == frames.size()) {
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System.out.println("AUTOPLAYBACK: Auto Already loaded.");
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return true;
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}
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m_numAxes = stream.readNBytes(1)[0];
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m_numPOVs = stream.readNBytes(1)[0];
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m_numControllers = stream.readNBytes(1)[0];
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m_numFrames = DataUtils.byteArrayToShort(stream.readNBytes(2));
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if (m_numControllers > controllers.length) {
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System.out.println("AUTOPLAYBACK: The auto file `" + filename + "` wants " + m_numControllers
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+ " virtual controllers but only " + controllers.length + " were given");
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return false;
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}
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for (int i = 0; i < m_numFrames; i++) {
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AutoRecordingFrame frame = new AutoRecordingFrame();
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for (int j = 0; j < m_numControllers; j++) {
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AutoRecordingControllerFrame controllerFrame = new AutoRecordingControllerFrame();
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double[] axes = new double[m_numAxes];
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for (int k = 0; k < m_numAxes; k++) { // we love third level for loops.
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axes[k] = DataUtils.byteArrayToDouble(stream.readNBytes(8));
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}
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short button = DataUtils.byteArrayToShort(stream.readNBytes(2));
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short[] POV = new short[m_numPOVs];
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for (int k = 0; k < m_numPOVs; k++) {
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POV[k] = DataUtils.byteArrayToShort(stream.readNBytes(2));
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}
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controllerFrame.axes = axes;
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controllerFrame.button = button;
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controllerFrame.POV = POV;
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frame.controllerFrames[j] = controllerFrame;
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}
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frame.timeStamp = DataUtils.byteArrayToInt(stream.readNBytes(4));
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frames.add(frame);
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}
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System.out.println("AUTOPLAYBACK: Read Auto `" + filename + "` that is " + m_numFrames + " frames long");
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return true;
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} catch (Exception e) {
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e.printStackTrace();
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System.out.println("AUTOPLAYBACK: Unable to read auto file `" + filename + '`');
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return false;
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}
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}
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public void unloadAuto() {
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System.out.println("AUTOPLAYBACK: Auto unloaded");
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frames.clear();
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}
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@Override
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public void initialize() {
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startTime = System.currentTimeMillis();
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playbackTime = 0;
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frame_index = 0;
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m_finished = !loadAuto();
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}
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@Override
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public void execute() {
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if (frame_index >= m_numFrames) m_finished = true;
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if (m_finished) return;
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// if (frame_index == 0) {
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// startTime = System.currentTimeMillis();
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// playbackTime = 0;
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// } else {
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// playbackTime = System.currentTimeMillis() - startTime;
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// }
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||||
AutoRecordingFrame frame = frames.get(frame_index);
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for (int i = 0; i < controllers.length; i++) {
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AutoRecordingControllerFrame controllerFrame = frame.controllerFrames[i];
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controllers[i].setFrame(controllerFrame.axes, controllerFrame.button, controllerFrame.POV);
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if (i == 0) {
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this.swerve.driveWithInput(
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new Translation2d(controllers[i].getRawAxis(0), controllers[i].getRawAxis(1)),
|
||||
new Translation2d(controllers[i].getRawAxis(4), controllers[i].getRawAxis(5)),
|
||||
true);
|
||||
}
|
||||
}
|
||||
frame_index++;
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||||
}
|
||||
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
for (VirtualController controller : controllers) controller.zeroControls();
|
||||
swerve.stopModules();
|
||||
if (m_shouldfree) frames.clear();
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean isFinished() {
|
||||
return m_finished;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,105 @@
|
||||
package frc4388.robot.commands.Swerve;
|
||||
|
||||
import java.io.FileOutputStream;
|
||||
import java.util.ArrayList;
|
||||
|
||||
import edu.wpi.first.math.geometry.Translation2d;
|
||||
import edu.wpi.first.wpilibj.XboxController;
|
||||
import edu.wpi.first.wpilibj2.command.Command;
|
||||
import frc4388.robot.subsystems.SwerveDrive;
|
||||
import frc4388.utility.DataUtils;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
|
||||
import frc4388.utility.UtilityStructs.AutoRecordingFrame;
|
||||
import frc4388.utility.controller.DeadbandedXboxController;
|
||||
|
||||
public class neoJoystickRecorder extends Command {
|
||||
private final SwerveDrive swerve;
|
||||
private final XboxController[] controllers;
|
||||
private final String filename;
|
||||
private long startTime = -1;
|
||||
private final ArrayList<AutoRecordingFrame> frames = new ArrayList<>();
|
||||
|
||||
public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, String filename) {
|
||||
this.swerve = swerve;
|
||||
this.controllers = controllers;
|
||||
this.filename = filename;
|
||||
|
||||
addRequirements(this.swerve);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void initialize() {
|
||||
frames.clear();
|
||||
|
||||
this.startTime = System.currentTimeMillis();
|
||||
AutoRecordingFrame frame = new AutoRecordingFrame();
|
||||
frame.controllerFrames = new AutoRecordingControllerFrame[] {new AutoRecordingControllerFrame(), new AutoRecordingControllerFrame()};
|
||||
frames.add(frame);
|
||||
}
|
||||
|
||||
|
||||
@Override
|
||||
public void execute() {
|
||||
System.out.println("AUTORECORD: RECORDING");
|
||||
AutoRecordingFrame frame = new AutoRecordingFrame();
|
||||
frame.timeStamp = (int) (System.currentTimeMillis() - startTime);
|
||||
for (int i = 0; i < controllers.length; i++) {
|
||||
XboxController controller = controllers[i];
|
||||
AutoRecordingControllerFrame controllerFrame = new AutoRecordingControllerFrame();
|
||||
double[] axes = {controller.getLeftX(), controller.getLeftY(),
|
||||
controller.getLeftTriggerAxis(), controller.getRightTriggerAxis(),
|
||||
controller.getRightX(), controller.getRightY()};
|
||||
short button = 0;
|
||||
for (int j = 0; j < 10; j++)
|
||||
if (controller.getRawButton(j+1))
|
||||
button |= 1 << j;
|
||||
short[] POV = {(short)(controller.getPOV())};
|
||||
controllerFrame.axes = axes;
|
||||
controllerFrame.button = button;
|
||||
controllerFrame.POV = POV;
|
||||
frame.controllerFrames[i] = controllerFrame;
|
||||
}
|
||||
|
||||
frames.add(frame);
|
||||
|
||||
swerve.driveWithInput(new Translation2d(frame.controllerFrames[0].axes[0], frame.controllerFrames[0].axes[1]),
|
||||
new Translation2d(frame.controllerFrames[0].axes[4], frame.controllerFrames[0].axes[5]),
|
||||
true); // Really jank way of doing this.
|
||||
|
||||
}
|
||||
@Override
|
||||
public void end(boolean interrupted) {
|
||||
try (FileOutputStream stream = new FileOutputStream("./" + filename)) {
|
||||
// header: size of 0x5
|
||||
// byte Number of axes per controller
|
||||
// byte Number of POVs per controller
|
||||
// byte Number of controllers
|
||||
// short Number of frames
|
||||
stream.write(new byte[]{6, 1, (byte) controllers.length});
|
||||
stream.write(DataUtils.shortToByteArray((short) frames.size()));
|
||||
|
||||
// frame
|
||||
// controller frame * number of controllers
|
||||
// int unix time stamp.
|
||||
for (AutoRecordingFrame frame : frames) {
|
||||
// controller frame
|
||||
// double axis * Number of axes per controller
|
||||
// short button states
|
||||
// short POV * Number of POVs per controller
|
||||
for (AutoRecordingControllerFrame controllerFrame: frame.controllerFrames) {
|
||||
for (double axis: controllerFrame.axes) {
|
||||
stream.write(DataUtils.doubleToByteArray(axis));
|
||||
}
|
||||
stream.write(DataUtils.shortToByteArray(controllerFrame.button));
|
||||
for (short POV: controllerFrame.POV) {
|
||||
stream.write(DataUtils.shortToByteArray(POV));
|
||||
}
|
||||
}
|
||||
stream.write(DataUtils.intToByteArray(frame.timeStamp));
|
||||
}
|
||||
System.out.println("AUTORECORD: Wrote auto `" + filename + "` that is " + frames.size() + " frames long.");
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user