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Add a chooser so driver can select a file

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This commit is contained in:
Keenan D. Buckley
2020-02-10 22:47:54 -07:00
parent 724994573a
commit 0636f3dfe3
1 changed files with 16 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+16 -2
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@@ -7,6 +7,9 @@
package frc4388.robot.subsystems;
import java.io.File;
import java.io.FilenameFilter;
import com.ctre.phoenix.motorcontrol.DemandType;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.FollowerType;
@@ -21,7 +24,9 @@ import com.ctre.phoenix.music.Orchestra;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -51,6 +56,8 @@ public class Drive extends SubsystemBase {
public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
SendableChooser<String> m_songChooser = new SendableChooser<String>();
/**
* Add your docs here.
*/
@@ -229,6 +236,12 @@ public class Drive extends SubsystemBase {
m_orchestra.addInstrument(m_rightBackMotor);
m_orchestra.addInstrument(m_rightFrontMotor);
File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
String[] songsStrings = songsDir.list();
for (String songString : songsStrings){
m_songChooser.addOption(songString, songsDir.getAbsolutePath() + songString);
}
Shuffleboard.getTab("Songs").add(m_songChooser);
}
@Override
@@ -257,6 +270,7 @@ public class Drive extends SubsystemBase {
SmartDashboard.putNumber("PID 0 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_PRIMARY));
SmartDashboard.putNumber("PID 1 Pos", m_rightFrontMotor.getSelectedSensorPosition(DriveConstants.PID_TURN));
selectSong(m_songChooser.getSelected());
} catch (Exception e) {
System.err.println("Error in the Drive Subsystem");
//e.printStackTrace(System.err);
@@ -435,7 +449,7 @@ public class Drive extends SubsystemBase {
* @param song The name of the song to be played
*/
public void selectSong(String song) {
String toPlay = song + ".chrp";
m_orchestra.loadMusic(toPlay);
//String toPlay = song + ".chrp";
m_orchestra.loadMusic(song);
}
}