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Minor cleanup.

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This commit is contained in:
Titan Robotics Club
2024-07-13 20:22:16 -07:00
parent 54f3b0bd77
commit 68354c5575
2 changed files with 12 additions and 9 deletions
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7
TeamCode/src/main/java/teamcode/autocommands/CmdAuto.java
View File

@ -103,17 +103,18 @@ public class CmdAuto implements TrcRobot.RobotCommand
if (state == null) if (state == null)
{ {
robot.dashboard.displayPrintf(8, "State: disabled or waiting (nextState=%s)...", sm.getNextState()); robot.dashboard.displayPrintf(8, "State: disabled or waiting (nextState=" + sm.getNextState() + ")...");
} }
else else
{ {
robot.dashboard.displayPrintf(8, "State: %s", state); robot.dashboard.displayPrintf(8, "State: " + state);
robot.globalTracer.tracePreStateInfo(sm.toString(), state);
switch (state) switch (state)
{ {
case START: case START:
if (autoChoices.delay > 0.0) if (autoChoices.delay > 0.0)
{ {
robot.globalTracer.traceInfo(moduleName, "***** Do delay " + autoChoices.delay + "s.");
timer.set(autoChoices.delay, event); timer.set(autoChoices.delay, event);
sm.waitForSingleEvent(event, State.DONE); sm.waitForSingleEvent(event, State.DONE);
} }

14
TeamCode/src/main/java/teamcode/autotasks/TaskAuto.java
View File

@ -74,7 +74,7 @@ public class TaskAuto extends TrcAutoTask<TaskAuto.State>
*/ */
public void autoAssist(TrcEvent completionEvent) public void autoAssist(TrcEvent completionEvent)
{ {
tracer.traceInfo(moduleName, "event=%s", completionEvent); tracer.traceInfo(moduleName, "event=" + completionEvent);
startAutoTask(State.START, new TaskParams(), completionEvent); startAutoTask(State.START, new TaskParams(), completionEvent);
} //autoAssist } //autoAssist
@ -113,8 +113,9 @@ public class TaskAuto extends TrcAutoTask<TaskAuto.State>
{ {
TrcOwnershipMgr ownershipMgr = TrcOwnershipMgr.getInstance(); TrcOwnershipMgr ownershipMgr = TrcOwnershipMgr.getInstance();
tracer.traceWarn( tracer.traceWarn(
moduleName, "Failed to acquire subsystem ownership (currOwner=%s, robotDrive=%s).", moduleName,
currOwner, ownershipMgr.getOwner(robot.robotDrive.driveBase)); "Failed to acquire subsystem ownership (currOwner=" + currOwner +
", robotDrive=" + ownershipMgr.getOwner(robot.robotDrive.driveBase) + ").");
releaseSubsystemsOwnership(); releaseSubsystemsOwnership();
} }
@ -132,8 +133,9 @@ public class TaskAuto extends TrcAutoTask<TaskAuto.State>
{ {
TrcOwnershipMgr ownershipMgr = TrcOwnershipMgr.getInstance(); TrcOwnershipMgr ownershipMgr = TrcOwnershipMgr.getInstance();
tracer.traceInfo( tracer.traceInfo(
moduleName, "Releasing subsystem ownership (currOwner=%s, robotDrive=%s).", moduleName,
currOwner, ownershipMgr.getOwner(robot.robotDrive.driveBase)); "Releasing subsystem ownership (currOwner=" + currOwner +
", robotDrive=" + ownershipMgr.getOwner(robot.robotDrive.driveBase) + ").");
robot.robotDrive.driveBase.releaseExclusiveAccess(currOwner); robot.robotDrive.driveBase.releaseExclusiveAccess(currOwner);
currOwner = null; currOwner = null;
} }
@ -163,7 +165,7 @@ public class TaskAuto extends TrcAutoTask<TaskAuto.State>
protected void runTaskState( protected void runTaskState(
Object params, State state, TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop) Object params, State state, TrcTaskMgr.TaskType taskType, TrcRobot.RunMode runMode, boolean slowPeriodicLoop)
{ {
TaskParams taskParams = (TaskParams) params; TaskParams taskParams = (TaskParams) params;
switch (state) switch (state)
{ {