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() {