Export Waypoint file to Output Directory and Correct Y Axis

src/main/java/edu/wpi/first/pathweaver/MainController.java

@@ -344,13 +344,20 @@ private void buildPaths() {
 
       java.nio.file.Path pathNameFile = output.resolve(path.getPathNameNoExtension());
 
-      if(!path.getSpline().writeToFile(pathNameFile)) {
+      if(!path.getSpline().writePathToFile(path)) {
         Alert alert = new Alert(Alert.AlertType.WARNING);
         FxUtils.applyDarkMode(alert);
         alert.setTitle("Path export failure!");
         alert.setContentText("Could not export to: " + output.toAbsolutePath());
       }
+
+      if(!path.getSpline().writeToFile(pathNameFile)) {
+        Alert alert = new Alert(Alert.AlertType.WARNING);
+        alert.setTitle("Trajectory export failure!");
+        alert.setContentText("Could not export to: " + output.toAbsolutePath());
+      }
     }
+
     Alert alert = new Alert(Alert.AlertType.INFORMATION);
     FxUtils.applyDarkMode(alert);
     alert.setTitle("Paths exported!");

src/main/java/edu/wpi/first/pathweaver/PathIOUtil.java

@@ -24,7 +24,6 @@ public final class PathIOUtil {
   private PathIOUtil() {
   }
 
-
   /**
    * Exports path object to csv file.
    *
@@ -33,7 +32,7 @@ private PathIOUtil() {
    *
    * @return true if successful file write was preformed
    */
-  public static boolean export(String fileLocation, Path path) {
+  public static boolean export(String fileLocation, Path path, double yoffset) {
     try (
         BufferedWriter writer = Files.newBufferedWriter(Paths.get(fileLocation + path.getPathName()));
 
@@ -42,7 +41,7 @@ public static boolean export(String fileLocation, Path path) {
     ) {
       for (Waypoint wp : path.getWaypoints()) {
         double xPos = wp.getX();
-        double yPos = wp.getY();
+        double yPos = wp.getY() + yoffset;
         double tangentX = wp.getTangentX();
         double tangentY = wp.getTangentY();
         String name = wp.getName();

src/main/java/edu/wpi/first/pathweaver/SaveManager.java

@@ -87,7 +87,7 @@ public void saveChange(Path path) {
    */
   private void saveChange(Path path, boolean remove) {
     String pathDirectory = ProjectPreferences.getInstance().getDirectory() + "/Paths/";
-    PathIOUtil.export(pathDirectory, path);
+    PathIOUtil.export(pathDirectory, path, 0d);
     if (remove) {
       paths.remove(path);
     }

src/main/java/edu/wpi/first/pathweaver/spline/Spline.java

@@ -1,10 +1,10 @@
 package edu.wpi.first.pathweaver.spline;
 
+import edu.wpi.first.pathweaver.path.Path;
+
 import edu.wpi.first.pathweaver.global.CurrentSelections;
 import javafx.scene.Group;
 
-import java.nio.file.Path;
-
 /**
  * This interface represents a Spline - the function that describes the path
  * the robot will take when travelling across the field. This class is designed for use with
@@ -62,5 +62,12 @@ public interface Spline {
    * @param path the path of the file to write to
    * @return whether the write succeeded
    */
-  boolean writeToFile(Path path);
+  boolean writeToFile(java.nio.file.Path path);
+
+  /**
+   * Export this path to a file for use in the robot.
+   * @param path the path of the file to write to
+   * @return whether the write succeeded
+   */
+  boolean writePathToFile(Path path);
 }

src/main/java/edu/wpi/first/pathweaver/spline/wpilib/WpilibSpline.java

@@ -1,6 +1,7 @@
 package edu.wpi.first.pathweaver.spline.wpilib;
 
 import edu.wpi.first.pathweaver.FxUtils;
+import edu.wpi.first.pathweaver.PathIOUtil;
 import edu.wpi.first.pathweaver.PathUnits;
 import edu.wpi.first.pathweaver.ProjectPreferences;
 import edu.wpi.first.pathweaver.Waypoint;
@@ -147,6 +148,31 @@ public boolean writeToFile(java.nio.file.Path path) {
         }
     }
 
+    @Override
+    public boolean writePathToFile(Path path) {
+        final AtomicBoolean okay = new AtomicBoolean(true);
+        TrajectoryGenerator.setErrorHandler((error, stacktrace) -> {
+            LOGGER.log(Level.WARNING, "Could not write Spline to file: " + error, stacktrace);
+            okay.set(false);
+        });
+
+        var prefs = ProjectPreferences.getInstance();
+        var lengthUnit = prefs.getField().getUnit();
+
+        // This value has units of the length type.
+        double height = prefs.getField().getRealLength().getValue().doubleValue();
+
+        // If the export type is different (i.e. meters), then we have to convert it. Otherwise we are good.
+        if (prefs.getValues().getExportUnit() == ProjectPreferences.ExportUnit.METER) {
+            UnitConverter converter = lengthUnit.getConverterTo(PathUnits.METER);
+            height = converter.convert(height);
+        }
+
+        PathIOUtil.export(ProjectPreferences.getInstance().getValues().getOutputDir() + "/Waypoints/", path, height);
+
+        return okay.get();
+    }
+
     private static QuinticHermiteSpline[] getQuinticSplinesFromWaypoints(Waypoint[] waypoints) {
         QuinticHermiteSpline[] splines = new QuinticHermiteSpline[waypoints.length - 1];
         for (int i = 0; i < waypoints.length - 1; i++) {