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RecorderOpRob does not record ShootRange=0 during auto-aim, which can cause replay to apply the wrong initial shooter range/schema, plus a few schema/documentation mismatches should be corrected for clarity.
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Pull request overview
Adds updated TeleOp recording and Autonomous replay OpModes for “record & replay” workflows, expanding the recorded CSV schema and introducing a feedforward+correction replay variant.
Changes:
- Updates recorder OpMode (V3.3) to log additional high-level mechanism state and writes to a dedicated
robot_data_Robert.csv. - Adds “final” recorder/replay pair (V3.4) that records driver commands and shooter kS for improved replay fidelity.
- Replaces/removes older recorder/replay implementations and adds replay correction tuning constants.
File summaries
| File | Description |
|---|---|
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/utils/Constants.java | Adjusts flap servo open/closed constants. |
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/RecorderOpRob.java | Updates V3.3 recorder behavior and CSV schema/output filename. |
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/FinalRecorderOp.java | Adds V3.4 recorder that also logs drive commands and shooter kS. |
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/DataRecordingOp2.java | Removes legacy recorder OpMode. |
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/autonomous/ReplayOpRob.java | Adds V3.3 replay OpMode for the Robert CSV format. |
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/autonomous/ReplayAutoOp3.java | Removes older V3 replay implementation. |
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/autonomous/OldReplayOp2.java | Removes older replay implementation. |
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/autonomous/FinalReplayOp.java | Adds V3.4 replay using recorded feedforward + odometry correction blending. |
| TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/autonomous/AutonomousConstants.java | Adds replay correction tuning constants and blending constraints. |
| FtcRobotController/src/main/AndroidManifest.xml | Bumps app versionCode/versionName. |
Review details
Suppressed comments (2)
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/RecorderOpRob.java:125
- The CSV header writes the last column as "AutoAim", but the Javadoc above documents it as "AutoAimEnabled". This makes the on-disk format ambiguous for humans/tools reading the header.
TeamCode/src/main/java/org/firstinspires/ftc/teamcode/kronbot/manual/RecorderOpRob.java:214 - When auto-aim is enabled, the code calls activateRange(0) but never records that in lastActivateRange. This means the CSV "ShootRange" column never becomes 0, so replay can apply an incorrect initial shooter range when the first recorded frame starts with auto-aim enabled.
- Files reviewed: 10/10 changed files
- Comments generated: 2
- Review effort level: Lite
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| String filePath = Environment.getExternalStorageDirectory().getPath() + "/robot_data_Vlad.csv"; | ||
| try { | ||
| dataRecorder = new FileWriter(filePath); | ||
| dataRecorder.write("Time,LR,RR,LF,RF,X,Y,Heading,Voltage,IntakeVel,LoaderVel,LeftShtrVel,RightShtrVel,TurretPos,AnglePos,FlapPos,IntakeCmd,LoaderCmd,FlapOpen,ShootRange,TurretOffset,BlueTarget,AutoAim,DriveFwd,DriveStr,DriveTurn,OuttakeKs\n"); |
| // activateRange(0) requires autoAimEnabled to be true (per | ||
| // Shoot.activateRange). Set the flag before calling it so | ||
| // the interpolated velocity path actually engages. |
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