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Java doc my NEO auto joystick system.

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This commit is contained in:
C4llSiqn
2024-03-12 19:08:49 -06:00
parent dbb958fa00
commit 91fbfb7af3
3 changed files with 93 additions and 0 deletions
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src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java
+42
View File
@@ -12,6 +12,11 @@ import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
import frc4388.utility.UtilityStructs.AutoRecordingFrame;
import frc4388.utility.controller.VirtualController;
/**
* The NEO autonomus playback system, designed based the old {@link JoystickPlayback} System but with {@link VirtualController}s
* @author Zachary Wilke
*/
public class neoJoystickPlayback extends Command {
private final SwerveDrive swerve;
private final VirtualController[] controllers;
@@ -29,6 +34,14 @@ public class neoJoystickPlayback extends Command {
private byte m_numControllers = 0;
private short m_numFrames = -1;
/**
* Creates an new NEO Joystick Playback with specifyed pramiters.
* @param swerve m_robotSwerveDrive
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
* @param shouldfree Unloads the auto on compleation or intruption.
* @param instantload Load the auto on object instantiation
*/
public neoJoystickPlayback(SwerveDrive swerve, Supplier<String> filenameGetter, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
this.swerve = swerve;
this.filenameGetter = filenameGetter;
@@ -38,18 +51,44 @@ public class neoJoystickPlayback extends Command {
if (instantload) loadAuto();
addRequirements(this.swerve);
}
/**
* Creates an new NEO Joystick Playback with specifyed pramiters.
* @param swerve m_robotSwerveDrive
* @param filename a String containing the name of the auto file you wish to playback.
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
* @param shouldfree unloads the auto on compleation or intruption.
* @param instantload load the auto on object instantiation
*/
public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers, boolean shouldfree, boolean instantload) {
this(swerve, () -> filename, controllers, shouldfree, instantload);
}
/**
* Creates an new NEO Joystick Playback with specifyed pramiters.
* @param swerve m_robotSwerveDrive
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
*/
public neoJoystickPlayback(SwerveDrive swerve, Supplier<String> filenameGetter, VirtualController[] controllers) {
this(swerve, filenameGetter, controllers, true, false);
}
/**
* Creates an new NEO Joystick Playback with specifyed pramiters.
* @param swerve m_robotSwerveDrive
* @param filename a String containing the name of the auto file you wish to playback.
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
*/
public neoJoystickPlayback(SwerveDrive swerve, String filename, VirtualController[] controllers) {
this(swerve, () -> filename, controllers, true, false);
}
/**
* Load the auto file from disk into memory
* @return Returns true if loading was successful, else wise; return false
* @implNote if the auto is already loaded, it will return true.
*/
public boolean loadAuto() {
filename = filenameGetter.get();
try (FileInputStream stream = new FileInputStream("/home/lvuser/autos/" + filename)) {
@@ -101,6 +140,9 @@ public class neoJoystickPlayback extends Command {
}
}
/**
* Unloads the auto.
*/
public void unloadAuto() {
System.out.println("AUTOPLAYBACK: Auto unloaded");
frames.clear();
src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java
+16
View File
@@ -13,6 +13,10 @@ import frc4388.utility.UtilityStructs.AutoRecordingControllerFrame;
import frc4388.utility.UtilityStructs.AutoRecordingFrame;
import frc4388.utility.controller.DeadbandedXboxController;
/**
* The NEO autonomus recording system, designed based the old {@link JoystickRecorder} System but with {@link frc4388.utility.controller.VirtualController VirtualController}s
* @author Zachary Wilke
*/
public class neoJoystickRecorder extends Command {
private final SwerveDrive swerve;
private final XboxController[] controllers;
@@ -21,6 +25,12 @@ public class neoJoystickRecorder extends Command {
private long startTime = -1;
private final ArrayList<AutoRecordingFrame> frames = new ArrayList<>();
/**
* Creates an new NEO Joystick Playback with specifyed pramiters.
* @param swerve m_robotSwerveDrive
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
* @param filenameGetter a String Supplier, designed for quickly changing auto names in shuffle board.
*/
public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, Supplier<String> filenameGetter) {
this.swerve = swerve;
this.controllers = controllers;
@@ -30,6 +40,12 @@ public class neoJoystickRecorder extends Command {
addRequirements(this.swerve);
}
/**
* Creates an new NEO Joystick Playback with specifyed pramiters.
* @param swerve m_robotSwerveDrive
* @param controllers an <b>Order-Specific</b> Array of Virtual controllers, index 0 means driver, index 1 means operator, etc.
* @param filename a String containing the name of the auto file you wish to playback.
*/
public neoJoystickRecorder(SwerveDrive swerve, DeadbandedXboxController[] controllers, String filename) {
this(swerve, controllers, () -> filename);
}