CSV parsing

src/main/java/com/team2363/commands/CSVHelixFollower.java

@@ -0,0 +1,156 @@
+package com.team2363.commands;
+
+import java.io.BufferedReader;
+import java.io.FileReader;
+import java.io.IOException;
+
+import com.team2363.controller.PIDController;
+import com.team2363.logger.HelixEvents;
+
+import edu.wpi.first.wpilibj.Notifier;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public abstract class CSVHelixFollower extends Command {
+  private Notifier pathNotifier = new Notifier(this::moveToNextSegment);
+  private Notifier pidNotifier = new Notifier(this::calculateOutputs);
+
+  private String filename;
+  private String line = null;
+  private boolean mirror, reverse, isFinished;
+  private double mCurrentDistance, mTargetDistance;
+  private double mCurrentHeading, mTargetHeading; 
+  private double mLeftVelocity, mRightVelocity;
+  private BufferedReader pathReader;
+  private String[] timestamp;
+
+  public enum INDEX {
+
+    DT(0),
+    LEFT_VELOCITY(4),
+    RIGHT_VELOCITY(12),
+    CENTER_POSITION(7),
+    HEADING(15);
+
+    private int index;
+
+    private INDEX(int index) {
+        this.index = index;
+    }
+
+    public int getIndex() {
+        return index;
+    }
+  }
+
+  public CSVHelixFollower(String filename) {
+    try {
+      this.filename = "home/lvuser/deploy/paths/" + filename + ".csv";
+      pathReader = new BufferedReader(new FileReader(this.filename));
+      pathReader.readLine();
+    } catch (IOException e) {
+      isFinished = true;
+    }
+  }
+
+  public CSVHelixFollower mirror() {
+    mirror = true;
+    return this;
+  }
+
+  public CSVHelixFollower reverse() {
+    reverse = true;
+    return this;
+  }
+
+  public abstract void resetDistance();
+  public abstract PIDController getHeadingController();
+  public abstract PIDController getDistanceController();
+  public abstract double getCurrentDistance();
+  public abstract double getCurrentHeading();
+  public abstract void useOutputs(double left, double right);
+
+  @Override
+  protected void initialize() {
+    resetDistance();
+    getDistanceController().reset();
+    getHeadingController().reset();
+    isFinished = false;
+
+    pathNotifier.startPeriodic(getIndex(INDEX.DT));
+    pidNotifier.startPeriodic(getDistanceController().getPeriod());
+
+    HelixEvents.getInstance().addEvent("HelixFollower", "Starting path: " + filename);
+  }
+
+  @Override
+  protected void execute() {
+    SmartDashboard.putNumber("Distance Path Error", getDistanceController().getError());
+    SmartDashboard.putNumber("Heading Path Error", getHeadingController().getError());
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return isFinished;
+  }
+
+  @Override
+  protected void end() {
+    try {
+      pathReader.close();
+    } catch (IOException e) {
+
+    }
+    pathNotifier.stop();
+    pidNotifier.stop();
+    HelixEvents.getInstance().addEvent("HelixFollower", "Finished path: " + filename);
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+
+
+  private void moveToNextSegment() {
+    try {
+      line = pathReader.readLine();
+      if (line == null) {
+        isFinished = true;
+      } else {
+        timestamp = line.split(",");
+      }
+    } catch (IOException e) {
+
+    }
+  }
+
+  private void calculateOutputs() {
+
+    if (line == null) return;
+
+    mCurrentDistance = getCurrentDistance();
+    mTargetDistance = reverse ? -getIndex(INDEX.CENTER_POSITION) : getIndex(INDEX.CENTER_POSITION);
+    mCurrentHeading = getCurrentHeading();
+    mTargetHeading = mirror ? -getIndex(INDEX.HEADING) : getIndex(INDEX.HEADING);
+    mLeftVelocity = getIndex(mirror ^ reverse ? INDEX.RIGHT_VELOCITY : INDEX.LEFT_VELOCITY);
+    mRightVelocity = getIndex(mirror ^ reverse ? INDEX.LEFT_VELOCITY : INDEX.RIGHT_VELOCITY);
+
+    if (reverse) {
+      mLeftVelocity *= -1;
+      mRightVelocity *= -1;
+    }
+
+    getDistanceController().setReference(mTargetDistance);
+    getHeadingController().setReference(mTargetHeading);
+
+    double correctedLeftVelocity = mLeftVelocity + getDistanceController().calculate(mCurrentDistance) - getHeadingController().calculate(mCurrentHeading);
+    double correctedRightVelocity = mRightVelocity + getDistanceController().calculate(mCurrentDistance) + getHeadingController().calculate(mCurrentHeading);
+
+    useOutputs(correctedLeftVelocity, correctedRightVelocity);
+  }
+
+  public double getIndex(INDEX index) {
+    return Double.parseDouble(timestamp[(index).getIndex()].replaceAll("\\s", ""));
+  }
+}