From 3ec37422c63bc3011b4a2dbdffa50f2e77afb5ca Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Wed, 11 Mar 2020 20:52:52 -0600 Subject: [PATCH] fixed reimporting paths problem --- PathWeaver/Paths/TenBallMidComplete | 11 ++++++----- src/main/deploy/paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Robot.java | 5 ++++- src/main/java/frc4388/robot/RobotContainer.java | 9 ++++++--- 4 files changed, 17 insertions(+), 10 deletions(-) diff --git a/PathWeaver/Paths/TenBallMidComplete b/PathWeaver/Paths/TenBallMidComplete index 9363e21..ead609f 100644 --- a/PathWeaver/Paths/TenBallMidComplete +++ b/PathWeaver/Paths/TenBallMidComplete @@ -2,8 +2,9 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 3.2,-2.4,0.2,2.5,true, 5.0,-1.1,3.0,0.0,true, 7.2,-1.1,1.5,0.0,true, -6.6123135559006245,-2.7023965955020937,-0.39262822032017564,-0.17846737287280634,true, -6.314867934445947,-2.8094770192257776,-0.3292650584281963,-0.18335832609507596,false, 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b/src/main/deploy/paths/TenBallMidComplete.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 4504f62..c8ac8f8 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -64,6 +64,8 @@ public class Robot extends TimedRobot { @Override public void disabledInit() { m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); + /* Builds Autos */ + m_robotContainer.buildAutos(); SmartDashboard.putString("Is Auto Start?", "NAH"); } @@ -82,7 +84,8 @@ public class Robot extends TimedRobot { m_robotContainer.setDriveNeutralMode(NeutralMode.Brake); m_robotContainer.setDriveGearState(true); m_robotContainer.resetOdometry(new Pose2d()); - m_robotContainer.resetGyroYawRobotContainer(0); + + //m_robotContainer.resetGyroYawRobotContainer(0); //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index b7db8a8..c4a1d3e 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -136,7 +136,7 @@ public class RobotContainer { configureButtonBindings(); /* Builds Autos */ - buildAutos(); + //buildAutos(); /* Default Commands */ // drives the robot with a two-axis input from the driver controller @@ -321,11 +321,11 @@ public class RobotContainer { try { SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto); - //return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); - return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); } catch (Exception e) { @@ -380,6 +380,9 @@ public class RobotContainer { String path = paths[0]; String trajectoryJSON = "paths/" + path + ".wpilib.json"; Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON); + + SmartDashboard.putString("trajectoryPath Initial", trajectoryPath.toString()); + Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath); initialTrajectory = trajectory;