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fixed reimporting paths problem

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This commit is contained in:
Aarav Shah
2020-03-11 20:52:52 -06:00
parent 18021fbdeb
commit 3ec37422c6
4 changed files with 17 additions and 10 deletions
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PathWeaver/Paths/TenBallMidComplete
+6 -5
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@@ -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,
5.862750589834837,-3.511448685858817,-0.1090388144136282,-0.46596647260741486,false,
5.886546239551211,-4.177726877917294,-0.07863878356842902,-0.48088836895271725,false,
5.553407143521973,-4.939187668841268,0.3688325706038009,-0.5235042937602339,true,
6.981146126504424,-1.7267749571307522,-0.16656954801462032,-0.6424825423421034,true,
6.766985279057057,-2.6072139966365975,-0.1189782485818709,-0.2974456214546768,true,
6.564722256467875,-3.1783095898295777,-0.2022630225891815,-0.44021951975292284,true,
6.267276635013197,-3.880281256462616,-0.206563341919694,-0.4559320155220153,false,
5.946035363842147,-4.546559448521093,-0.14277389829824472,-0.2974456214546777,true,
5.660487567245656,-5.046268092564953,0.13087607344005825,-0.42832169489473504,true,
src/main/deploy/paths/TenBallMidComplete.wpilib.json
+1 -1
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src/main/java/frc4388/robot/Robot.java
+4 -1
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@@ -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);
src/main/java/frc4388/robot/RobotContainer.java
+6 -3
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@@ -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;