We are trying to implement the play-record macro described by teams 4009 and 2220 for our autonomous (thank you!) - see
http://www.chiefdelphi.com/forums/sh...ht=play+record
We have it programmed in Java using iterative robot, and it is mostly working except for two issues. When we shoot the ball, we send a shooter.set(1) command to the shooter motor, and then have a 1.5 second delay to wait for the shooter wheel to get up to speed. When we record this, the macro stops recording during the delay, and on playback the shooter wheels get a shooter.set(0) command immediately after getting the shooter.set(1). The shooter wheels are also used as a ball intake without a delay and that function works fine on playback.
The other issue is one that others have reported - accuracy isn't perfect with respect to the path driven. If we record driving in a loop and then play back from the original starting point the robot's final position is off by a few inches or more, and orientation also off.
I'm thinking of having the recording and playback modes run in a separate thread, that way it would keep recording during the delay and we can also increase the read frequency (and hopefully increase accuracy) which right now I believe is limited to by delay between driver station and robot. Has anyone tried this before? Any thoughts?