+++ /dev/null
-package org.usfirst.frc.team3501.robot;
-
-import java.io.BufferedReader;
-import java.io.FileReader;
-import java.io.IOException;
-import java.util.Arrays;
-import java.util.HashMap;
-
-public class AutonData {
-
- HashMap<String, Double> speeds;
- HashMap<String, Double> times;
-
- public AutonData() {
- speeds = new HashMap<String, Double>();
- times = new HashMap<String, Double>();
-
- populate();
- }
-
- public double getSpeed(String key) {
- Double ret = speeds.get(key);
-
- return (ret != null) ? ret : 0;
- }
-
- public double getTime(String key) {
- Double ret = times.get(key);
-
- return (ret != null) ? ret : 0;
- }
-
- public void update() {
- speeds.clear();
- times.clear();
-
- populate();
- }
-
- private void populate() {
- String file;
-
- try {
- file = readConfigFile();
- } catch (IOException e) {
- e.printStackTrace();
- populateDefaults();
- return;
- }
-
- try {
- Arrays.stream(file.split("\n"))
- .map(line -> line.split(" "))
- .forEach((action) -> {
- double speed = Double.parseDouble(action[0]);
- double time = Double.parseDouble(action[1]);
- String name = action[2];
-
- speeds.put(name, speed);
- times.put(name, time);
- });
- } catch (Exception e) {
- e.printStackTrace();
- populateDefaults();
- }
- }
-
- private void populateDefaults() {
- speeds.clear();
- times.clear();
-
- speeds.put("drive_over_step", 0.7);
- speeds.put("drive_past_step", 0.5);
- speeds.put("pickup_container", 0.5);
-
- times.put("drive_over_step", 1.2);
- times.put("drive_past_step", 1.5);
- times.put("pickup_container", 1.4);
- }
-
- private String readConfigFile() throws IOException {
- BufferedReader in = new BufferedReader(new FileReader(
- "auton_times_and_speeds.conf"));
-
- StringBuilder sb = new StringBuilder();
-
- in.readLine(); // get rid of first line
-
- String curLine;
- while ((curLine = in.readLine()) != null)
- sb.append(curLine + "\n");
- String finalString = sb.toString();
-
- in.close();
-
- return finalString;
- }
-}