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Fix swapping of left and right paths #139

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merged 2 commits into from
Jan 28, 2019
Merged

Fix swapping of left and right paths #139

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6b026e5
Fix swapping of left and right
kjrobrien Jan 28, 2019
67d8e9a
Add note to explain path swap
kjrobrien Jan 28, 2019
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6 changes: 4 additions & 2 deletions src/main/java/edu/wpi/first/pathweaver/MainController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -337,9 +337,11 @@ private void buildPaths() {
TankModifier tank = path.getTankModifier();
Pathfinder.writeToCSV(new File(output, path.getPathNameNoExtension() + ".pf1.csv"),
tank.getSourceTrajectory());
Pathfinder.writeToCSV(new File(output, path.getPathNameNoExtension() + ".left.pf1.csv"),
tank.getLeftTrajectory());
// Note: the left and the right are swapped. This is due to our orientation of the
// coordinate system. This is a hack to fix path output for the 2019 season.
Pathfinder.writeToCSV(new File(output, path.getPathNameNoExtension() + ".right.pf1.csv"),
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Should leave a comment here to explain the hack and why the left path goes to the right-side file and vice-versa.

tank.getLeftTrajectory());
Pathfinder.writeToCSV(new File(output, path.getPathNameNoExtension() + ".left.pf1.csv"),
tank.getRightTrajectory());
}
Alert alert = new Alert(Alert.AlertType.INFORMATION);
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