PathRecorder

java.lang.Object
- frc.robot.util.hyperdrive.recording.PathRecorder

public class PathRecorder
extends java.lang.Object

A utility for recording paths.

Constructor Summary

Constructors
Constructor Description

PathRecorder(java.lang.String file, Units.LENGTH distanceUnits)
Creates a new PathRecorder writing to the given file.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`closeFile()`	Closes the path file after recording.
`void`	`flushFile()`	Forces the PathRecorder to update the path file.
`java.lang.String`	`getFilePath()`	Returns the absolute file path of the Path that the PathRecorder is writing to.
`void`	`init()`	Opens the path file and prepares PathRecorder to write to it.
`void`	`recordPoint(Point2D point)`	Updates the PathRecorder with the current robot position.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - PathRecorder
```
public PathRecorder(java.lang.String file,
                    Units.LENGTH distanceUnits)
```
    Creates a new PathRecorder writing to the given file.
    
    Parameters:
    
    file - The absolute file path of the file to record to.
    
    distanceUnits - The units of length to use.
- Method Detail
  - init
```
public void init()
```
    Opens the path file and prepares PathRecorder to write to it. This method MUST be called before recording a path or the path will never actually be written.
  - closeFile
```
public void closeFile()
```
    Closes the path file after recording.
  - recordPoint
```
public void recordPoint(Point2D point)
```
    Updates the PathRecorder with the current robot position. PathRecorder will decide if the point should be recorded and also if the file should be updated.
    
    Parameters:
    
    point - The current robot position and heading.
  - flushFile
```
public void flushFile()
               throws java.io.IOException
```
    Forces the PathRecorder to update the path file.
    
    Throws:
    
    java.io.IOException - If the file operation fails.
  - getFilePath
```
public java.lang.String getFilePath()
```
    Returns the absolute file path of the Path that the PathRecorder is writing to.
    
    Returns:
    
    Path to the currently recording file, as a String.