rearrange a few more files. realize that adding the auton read from file thing was...

[3501/3501-spark-go] / src / org / usfirst / frc / team3501 / util / AutonData.java

diff --git a/src/org/usfirst/frc/team3501/util/AutonData.java b/src/org/usfirst/frc/team3501/util/AutonData.java
new file mode 100644 (file)
index 0000000..df91645
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/util/AutonData.java
@@ -0,0 +1,98 @@
+package org.usfirst.frc.team3501.util;
+
+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;
+    }
+}