gistfile1.txt

package org.usfirst.frc.team1797.robot.utils;

import java.io.File;
import java.nio.file.CopyOption;
import java.nio.file.Files;
import java.nio.file.StandardCopyOption;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

import org.usfirst.frc.team1797.robot.Robot;
import org.usfirst.frc.team1797.robot.commands.auto.AutoRunner;
import org.usfirst.frc.team1797.robot.commands.auto.AutoRunner.Routines;

import jaci.pathfinder.Pathfinder;
import jaci.pathfinder.Trajectory;

/**
 *
 */
public class TrajectoryManager {
	public List<File> folder;
	private HashMap<String, File> trajectories;
	private String filePath = "/home/lvuser/trajectories/";
	
	public TrajectoryManager() {
		// TODO Auto-generated constructor stub
		trajectories = new HashMap<>();
		File x = new File(filePath);
		
		folder = Arrays.asList(x.listFiles());
		System.out.println("Folder: " + folder);
		/* 
		 * The CSV files need to be on the roboRIO, and need to include the alliance number and direction (at the end).
		 * For instance, it could be "BASELINECURVED2L"; the title also needs to be in all capitals.
		*/
		
		for(File f : folder) {
			trajectories.put(f.getName(), f);
			System.out.println(f.getName() + " : " + f);
		}
		
		System.out.println("TRAJECTORIES" + trajectories);
	}
	
	public Trajectory getTrajectoryFromFile(String trajectoryName) {
		System.out.println("get trajectory from file: " + Pathfinder.readFromCSV(trajectories.get(trajectoryName + ".csv")));
		return Pathfinder.readFromCSV(trajectories.get(trajectoryName + ".csv"));
	}
	// uncomment for writing files, etc
	public void waypointCSVToTrajectory(File waypointCSV) {
		Trajectory trajectory = Pathfinder.readFromCSV(waypointCSV);
		Trajectory traj = new PathfinderUtils(trajectory, Robot.DRIVE_TRAIN.leftEncoder, Robot.DRIVE_TRAIN.rightEncoder).getInitialTrajectory();
		File f = new File("/home/lvuser/trajectories/" + waypointCSV.getName() + ".csv");
		Pathfinder.writeToCSV(f, traj);
		System.out.println("File has been written as: " + f.getName() + ", at the location: " + f.getAbsolutePath() + ".");
	}
	
	/*public void saveTrajectoryCSV(File trajectoryCSV) {
		File f = new File("/trajectorycsv/");
		File folder[] = f.listFiles();
		for(File file : folder) {
			Files.copy("", out);
		}
	} */
}