Kevin's Macros code

build/debug/debuginfo.json

@@ -5,5 +5,12 @@
     "debugfile": "frcJava_roborio.debugconfig",
     "project": "2020Robot",
     "language": "java"
+  },
+  {
+    "artifact": "frcJava (in project 2020RobotOld)",
+    "target": "roborio",
+    "debugfile": "frcJava_roborio.debugconfig",
+    "project": "2020RobotOld",
+    "language": "java"
   }
 ]

build/debug/riopartial/2020RobotOld.json

@@ -0,0 +1,9 @@
+[
+  {
+    "artifact": "frcJava (in project 2020RobotOld)",
+    "target": "roborio",
+    "debugfile": "frcJava_roborio.debugconfig",
+    "project": "2020RobotOld",
+    "language": "java"
+  }
+]

src/main/java/frc/robot/Constants.java

@@ -15,7 +15,8 @@
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.core751.subsystems.DifferentialDriveTrain;
 import frc.robot.core751.subsystems.DifferentialDriveTrain.driveMotor;
-import frc.robot.core751.subsystems.LightStrip.Orientation;
+import frc.robot.core751.wrappers.OverrideableJoystick;
+
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide
@@ -48,7 +49,7 @@ public int getButtonMapping() {
 
     }
 
-    public static Joystick driverStick = new Joystick(Constants.driveStickPort);
+    public static OverrideableJoystick driverStick = new OverrideableJoystick(Constants.driveStickPort);
 
       /*================================/ 
      /===========Drive Train===========/
@@ -104,17 +105,6 @@ public int getButtonMapping() {
 
     public static Button panelToggleButton = new JoystickButton(driverStick, Controller.Y.buttonNum);
 
-     /*======================================/
-     /===========Lightstrip=================/
-    /=====================================*/
-    public static int FTLEDPort = 0;
-    public static int FTLEDLength = 15;
-    public static Orientation FTLEDOrientation = Orientation.HORIZONTAL;
-
-    public static int FBLEDPort = 1;
-    public static int FBLEDLength = 13;
-    public static Orientation FBLEDOrientation = Orientation.HORIZONTAL;
-
 
     // Robot-specific PIDTrajectory constants 
     public static double trackWidthMeters = 0.0762; // horizontal distance between the wheels 

src/main/java/frc/robot/Replay.java

@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot;
+
+/**
+ * Add your docs here.
+ */
+public class Replay {
+    public static Double[][] array = {{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.15748031437397003D},{0.4330708682537079D,0.15748031437397003D},{0.4330708682537079D,0.15748031437397003D},{0.4330708682537079D,0.15748031437397003D},{0.4330708682537079D,0.17322835326194763D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18897637724876404D},{0.4330708682537079D,0.18897637724876404D},{0.4330708682537079D,0.18897637724876404D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.18110236525535583D},{0.4330708682537079D,0.16535432636737823D},{0.4330708682537079D,0.14960630238056183D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.14173229038715363D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.12598425149917603D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11811023950576782D},{0.4330708682537079D,0.11023622006177902D},{0.4330708682537079D,0.11023622006177902D},{0.4330708682537079D,0.11023622006177902D},{0.4330708682537079D,0.09448818862438202D},{0.4251968562602997D,0.07086614519357681D},{0.4251968562602997D,0.06299212574958801D},{0.4251968562602997D,0.05511811003088951D},{0.4251968562602997D,0.05511811003088951D},{0.4251968562602997D,0.05511811003088951D},{0.4173228442668915D,0.05511811003088951D},{0.4173228442668915D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4094488322734833D,0.05511811003088951D},{0.4015747904777527D,0.07874015718698502D},{0.3937007784843445D,0.10236220806837082D},{0.3858267664909363D,0.11023622006177902D},{0.3779527544975281D,0.12598425149917603D},{0.3779527544975281D,0.12598425149917603D},{0.3779527544975281D,0.12598425149917603D},{0.3779527544975281D,0.12598425149917603D},{0.3779527544975281D,0.12598425149917603D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3700787425041199D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3779527544975281D,0.14173229038715363D,1D},{0.3858267664909363D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3937007784843445D,0.14173229038715363D,1D},{0.3779527544975281D,0.11023622006177902D,1D},{0.3385826647281647D,0.08661417663097382D,1D},{0.3385826647281647D,0.08661417663097382D,1D},{0.10236220806837082D,0.0D,1D},{0.007874015718698502D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D},{-0.015625D,0.0D,1D}};
+
+}

src/main/java/frc/robot/RobotContainer.java

@@ -14,6 +14,8 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.commands.Ball.*;
 import frc.robot.commands.Panel.*;
+import frc.robot.core751.commands.JoystickPlayer;
+import frc.robot.core751.commands.JoystickRecorder;
 import frc.robot.core751.commands.Drivetrain.ArcadeDrive;
 import frc.robot.core751.commands.Drivetrain.ReversableArcadeDrive;
 import frc.robot.core751.commands.Drivetrain.SwitchDriveDirection;
@@ -37,31 +39,26 @@ public class RobotContainer {
   // private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
 
 
+  private final Camera camera0 = new Camera(0);
+  private final Camera camera1 = new Camera(1);
 
   private final DifferentialDriveTrain differentialDriveTrain = new DifferentialDriveTrain(Constants.leftDrivetrainIDs, Constants.rightDrivetrainIDs, Constants.driveTrainMotorType, Constants.driveMotorProfile, Constants.driveInvertLeft, Constants.driveInvertRight);
   private final ReversableArcadeDrive reversableArcadeDrive = new ReversableArcadeDrive(Constants.driverStick, differentialDriveTrain);
-  private final SwitchDriveDirection switchDriveDirection = new SwitchDriveDirection(differentialDriveTrain);
+  private final SwitchDriveDirection switchDriveDirection = new SwitchDriveDirection(differentialDriveTrain,0,1);
 
-  private final LightStrip[] lightStrips = new LightStrip[] {
-    new LightStrip(0, Constants.FTLEDLength, Constants.FTLEDOrientation),
-    //new LightStrip(1, Constants.FBLEDLength, Constants.FBLEDOrientation)
-  };
-  private final TeamColorLights teamColorLights = new TeamColorLights(lightStrips);
-
   public final Panel panel = new Panel(Constants.leftColorsensorPort, Constants.rightColorsensorPort, Constants.panelSpinID, Constants.panelRotateID, Constants.panelTopLimitPort, Constants.panelBottomLimitPort);
-  private final GoToColor goToColor = new GoToColor(lightStrips, panel);
-  private final RotateWheel rotateWheel = new RotateWheel(lightStrips, panel);
   private final ManualPanel manualPanel = new ManualPanel(panel, Constants.driverStick, Constants.rightTrigger, Constants.leftTrigger);
-  private final RotateThenSelect rotateThenSelect = new RotateThenSelect(panel, lightStrips);
-  private final TogglePanelPosition togglePanelPosition = new TogglePanelPosition(panel);
-
-  private final Camera camera = new Camera(0);
 
   private final Ball ball = new Ball(Constants.ballIntakeMotorID, Constants.ballPolycordMotorID, Constants.ballOutakeMotorID);
   private final DefaultBall defaultBall = new DefaultBall(ball, Constants.driverStick, Constants.ballLBumper, Constants.ballRBumper, Constants.ballOutButton, Constants.ballReverseOutButton);
 
   private final PowerDistributionPanel pdp = new PowerDistributionPanel();
 
+  private final JoystickRecorder joystickRecorder = new JoystickRecorder(Constants.driverStick);
+  private final JoystickPlayer joystickPlayer = new JoystickPlayer(Replay.array, Constants.driverStick);
+
+
+
   /**
    * The container for the robot.  Contains subsystems, OI devices, and commands.
    */
@@ -77,23 +74,18 @@ public RobotContainer() {
    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-    for (LightStrip l : lightStrips) {
-      l.setDefaultCommand(teamColorLights);
-    }
+
     panel.setDefaultCommand(manualPanel);
     differentialDriveTrain.setDefaultCommand(reversableArcadeDrive);
     ball.setDefaultCommand(defaultBall);
 
-    Constants.panelToggleButton.whenPressed(togglePanelPosition);
 
     Constants.driveSwitchDirectionButton.whenPressed(switchDriveDirection);
 
     SmartDashboard.putData(pdp);
+    SmartDashboard.putData(joystickRecorder);
+    SmartDashboard.putData(joystickPlayer);
 
-    SmartDashboard.putData(togglePanelPosition);
-    SmartDashboard.putData(goToColor);
-    SmartDashboard.putData(rotateWheel);
-    SmartDashboard.putData(rotateThenSelect);
   }