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- package org.usfirst.frc.team1797.robot.utils;
- import java.io.File;
- import java.util.Arrays;
- import java.util.HashMap;
- import org.usfirst.frc.team1797.robot.commands.auto.AutoRunner.Routine;
- import jaci.pathfinder.Pathfinder;
- import jaci.pathfinder.Trajectory;
- /*
- * Created by techtide/greenie/ab for Phoenix 1797 of ASL Robotics.
- */
- public class TrajectoryUtils {
- private HashMap<String, Trajectory> fileTrajectoryMap;
- private String path = "/home/lvuser/";
- public TrajectoryUtils() {
- fileTrajectoryMap = new HashMap<>();
- initialiseFileTrajectoryMap();
- }
- public void initialiseFileTrajectoryMap() {
- // Instantiates and reads all files into a map based on the format of "File/routine name":Trajectory.
- File folderPath = new File(path + "trajectories/");
- File[] folder = folderPath.listFiles();
- for(File file : folder) {
- fileTrajectoryMap.put(file.getName(), Pathfinder.readFromCSV(file));
- }
- System.out.println("[TrajectoryManager: initFileTrajectoryMap] The files in the trajectory hashmap are: "
- + fileTrajectoryMap);
- }
- public Trajectory csvToTrajectory(Routine routineToRun, char direction) {
- // File f = new File(path + "trajectories/" + routineToRun.name() + direction + ".csv");
- // System.out.println("[TrajectoryManager: csvToTrajectory] The file's name is: " + f.getName());
- // return Pathfinder.readFromCSV(f);
- System.out.println("CSV FILE NAME: "+ routineToRun.name().toUpperCase() + direction + ".csv");
- return fileTrajectoryMap.get(routineToRun.name().toUpperCase() + direction + ".csv");
- }
- }
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