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Diffstat (limited to 'src/org/usfirst/frc/team4272/robot2016/Robot.java')
-rw-r--r--src/org/usfirst/frc/team4272/robot2016/Robot.java73
1 files changed, 0 insertions, 73 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2016/Robot.java b/src/org/usfirst/frc/team4272/robot2016/Robot.java
index 603b449..0c2a98e 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Robot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Robot.java
@@ -4,13 +4,7 @@ package org.usfirst.frc.team4272.robot2016;
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.util.Date;
-import java.io.FileWriter;
-import java.io.IOException;
-import java.io.PrintWriter;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
@@ -23,7 +17,6 @@ public class Robot extends IterativeRobot {
private final HwOI oi = new HwOI();
private final DriverStation ds = DriverStation.getInstance();
private final Control control = new Control();
- private PrintWriter log;
private Autonomous auto;
private Teleop teleop;
@@ -32,76 +25,16 @@ public class Robot extends IterativeRobot {
* used for any initialization code.
*/
public void robotInit() {
- try {
- inLog();
- } catch (Exception e) {}
- }
-
- private void inLog() throws IOException {
- log = new PrintWriter(new FileWriter("/home/lvuser/tweeterbot/var/data.log", true));
- log.println("\ntime"
- +",ds:FMS,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"
- +",i:winch.dist");
- }
-
- private void doLogOnce(String tag) throws Exception {
- log.println(new Date()
- +","+ds.isFMSAttached()
- +","+tag);
- }
-
- private void doLog() throws Exception {
- SmartDashboard.putNumber("dist", robot.rDriveE.getDistance());
- SmartDashboard.putNumber("raw", robot.rDriveE.getRaw());
- if (!ds.isFMSAttached())
- return;
- log.println(new Date()
- +","+ds.isFMSAttached()
- +","+ds.getAlliance()
- +","+ds.getBatteryVoltage()
- +","+ds.getMatchTime()
- +","+control.lDrive
- +","+control.rDrive
- +","+control.winch
- +","+fmtRelay(control.lIntake)
- +","+fmtRelay(control.rIntake)
- +","+control.grab
- +","+control.push
- +","+robot.lDriveE.getDistance()
- +","+robot.lDriveE.getRate()
- +","+robot.rDriveE.getDistance()
- +","+robot.rDriveE.getRate()
- +","+robot.winchE.getRate()
- );
- }
-
- private String fmtRelay(Relay.Value v) {
- if (v == Relay.Value.kForward) {
- return "kForward";
- } else if (v == Relay.Value.kReverse) {
- return "kReverse";
- } else if (v == Relay.Value.kOn) {
- return "kOn";
- } else if (v == Relay.Value.kOff) {
- return "kOff";
- } else {
- return "unknown";
- }
}
public void autonomousInit() {
try {
auto = new Autonomous(robot);
- doLogOnce("autonomous");
} catch (Exception e) {}
}
public void autonomousPeriodic() {
try {
robot.run(auto.run(control));
- doLog();
} catch (Exception e) {}
}
@@ -109,22 +42,16 @@ public class Robot extends IterativeRobot {
try {
robot.rDriveE.reset();
teleop = new Teleop();
- doLogOnce("teleop");
} catch (Exception e) {}
}
public void teleopPeriodic() {
try {
robot.run(teleop.run(control, oi));
- doLog();
} catch (Exception e) {}
}
public void disabledInit() {
- try {
- doLogOnce("disabled");
- log.flush();
- } catch (Exception e) {}
}
public void disabledPeriodic() {