diff options
Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2015/Robot.java')
| -rw-r--r-- | src/org/usfirst/frc/team4272/robot2015/Robot.java | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2015/Robot.java b/src/org/usfirst/frc/team4272/robot2015/Robot.java index 22abd30..454f226 100644 --- a/src/org/usfirst/frc/team4272/robot2015/Robot.java +++ b/src/org/usfirst/frc/team4272/robot2015/Robot.java @@ -2,8 +2,10 @@ package org.usfirst.frc.team4272.robot2015; +import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.IterativeRobot; import edu.wpi.first.wpilibj.Relay; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import java.io.FileWriter; import java.io.IOException; @@ -18,6 +20,7 @@ import java.io.PrintWriter; public class Robot extends IterativeRobot { private final HwRobot robot = new HwRobot(); private final HwOI oi = new HwOI(); + private final DriverStation ds = DriverStation.getInstance(); private final Control control = new Control(); private PrintWriter log; @@ -36,6 +39,7 @@ public class Robot extends IterativeRobot { private void inLog() throws IOException { log = new PrintWriter(new FileWriter("/usr/local/frc/share/lukeshu.log", true)); log.println("\ntime" + +",ds:alliance,ds:voltage,ds:FMStime" +",c:lDrive,c:rDrive,c:winch,c:lIntake,c:rIntake,c:grab,c:push" +",i:lDrive.dist,i:lDrive.rate" +",i:rDrive.dist,i:rDrive.rate" @@ -43,7 +47,14 @@ public class Robot extends IterativeRobot { } private void doLog() throws Exception { + SmartDashboard.putNumber("dist", robot.rDriveE.getDistance()); + SmartDashboard.putNumber("raw", robot.rDriveE.getRaw()); + if (!ds.isFMSAttached()) + return; log.println(0 + +","+ds.getAlliance() + +","+ds.getBatteryVoltage() + +","+ds.getMatchTime() +","+control.lDrive +","+control.rDrive +","+control.winch @@ -84,6 +95,7 @@ public class Robot extends IterativeRobot { } public void teleopInit() { + robot.rDriveE.reset(); teleop = new Teleop(); } |