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More stuff for record/replay

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This commit is contained in:
4a656666 2021-12-06 08:35:19 -06:00
parent 34c40cf46c
commit 0dfba9e5dc
6 changed files with 61 additions and 36 deletions
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0
.idea/gradle.properties Normal file
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9
.idea/inspectionProfiles/Project_Default.xml Normal file
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@ -0,0 +1,9 @@
<component name="InspectionProjectProfileManager">
<profile version="1.0">
<option name="myName" value="Project Default" />
<inspection_tool class="EmptyStatementBody" enabled="true" level="WARNING" enabled_by_default="true">
<option name="m_reportEmptyBlocks" value="true" />
<option name="commentsAreContent" value="true" />
</inspection_tool>
</profile>
</component>

1
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API.java
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@ -34,7 +34,6 @@ public class API {
*/
public static void pause(double seconds) {
double time = opMode.getRuntime() + seconds;
//noinspection StatementWithEmptyBody
while (opMode.getRuntime()<time); /* no empty while loop here! */
}

24
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/GamepadRecord.java
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@ -68,16 +68,26 @@ public class GamepadRecord extends OpMode {
try {
JSONObject currentData = new JSONObject()
.put("movement",
new JSONObject()
.put("x", gamepad1.left_stick_x)
.put("y", -gamepad1.left_stick_y)
.put("turn", gamepad1.right_stick_x)
.put("speed", speed)
)
// .put("movement",
// new JSONObject()
// .put("x", gamepad1.left_stick_x)
// .put("y", -gamepad1.left_stick_y)
// .put("turn", gamepad1.right_stick_x)
// .put("speed", speed)
// )
// Movement
.put("fl", MovementAPI.getFL().getPower())
.put("fr", MovementAPI.getFR().getPower())
.put("bl", MovementAPI.getBL().getPower())
.put("br", MovementAPI.getBR().getPower())
// Auxiliary
.put("intake", intakeMotor.getPower())
.put("lift", liftMotor.getPower())
.put("carousel", carouselMotor.getPower())
// Time
.put("time", this.getRuntime() * 1000);
if (!currentData.toString().equals(outputJSON.getJSONArray("recordedData").get(currentIndex - 1).toString()))

5
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/MovementAPI.java
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@ -6,6 +6,11 @@ public class MovementAPI {
private static API.Motor bl;
private static API.Motor br;
public static API.Motor getFL() { return fl; }
public static API.Motor getFR() { return fr; }
public static API.Motor getBL() { return bl; }
public static API.Motor getBR() { return br; }
/**
* Initializes the API
*

58
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/Replay.java
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@ -12,6 +12,11 @@ import java.io.File;
@Autonomous(name="Autonomous Replay v1.0.0", preselectTeleOp = "AAAAAAAAA")
public class Replay extends OpMode {
private API.Motor fl = API.Motor.M0;
private API.Motor fr = API.Motor.M1;
private API.Motor bl = API.Motor.M2;
private API.Motor br = API.Motor.M3;
private API.Motor intakeMotor = API.Motor.M4;
private API.Motor liftMotor = API.Motor.M5;
private API.Motor carouselMotor = API.Motor.M6;
@ -42,7 +47,7 @@ public class Replay extends OpMode {
try {
recordingJSON = new JSONObject(ReadWriteFile.readFile(recordingFile));
} catch (JSONException e) {
API.print("Why are we here? Just to suffer?");
somethingWentWrong(e);
}
}
@ -55,15 +60,22 @@ public class Replay extends OpMode {
if (this.getRuntime() * 1000 < currentData.getDouble("time")) return;
JSONObject currentMovementData = currentData.getJSONObject("movement");
MovementAPI.move(
currentMovementData.getDouble("y"),
currentMovementData.getDouble("x"),
currentMovementData.getDouble("turn"),
currentMovementData.getDouble("speed"),
true
);
// JSONObject currentMovementData = currentData.getJSONObject("movement");
// MovementAPI.move(
// currentMovementData.getDouble("y"),
// currentMovementData.getDouble("x"),
// currentMovementData.getDouble("turn"),
// currentMovementData.getDouble("speed"),
// true
// );
// Movement
fl.setPower(currentData.getDouble("fl"));
fr.setPower(currentData.getDouble("fr"));
bl.setPower(currentData.getDouble("bl"));
br.setPower(currentData.getDouble("br"));
// Auxiliary
intakeMotor.start(currentData.getDouble("intake"));
liftMotor.start(currentData.getDouble("lift"));
carouselMotor.start(currentData.getDouble("carousel"));
@ -75,26 +87,16 @@ public class Replay extends OpMode {
nextIndex = -1;
}
} catch (JSONException e) {
API.print("Why are we here? Just to suffer?");
somethingWentWrong(e);
}
}
// try {
// outputJSON.getJSONArray("recordedData").put(
// new JSONObject()
// .put("movement",
// new JSONObject()
// .put("x", gamepad1.left_stick_x)
// .put("y", -gamepad1.left_stick_y)
// .put("turn", gamepad1.right_stick_x)
// .put("speed", speed)
// )
// .put("intake", intakeMotor.getPower())
// .put("lift", liftMotor.getPower())
// .put("carousel", carouselMotor.getPower())
// .put("time", this.getRuntime() * 1000)
// );
// } catch (JSONException e) {
// API.print("Why are we here? Just to suffer?");
// }
public void somethingWentWrong(Exception e) {
API.print(
"Why are we here? Just to suffer?" + System.lineSeparator() +
e.getMessage()
);
this.requestOpModeStop();
nextIndex = -1;
}
}