diff --git a/wpilibj/src/athena/cpp/lib/HAL.cpp b/wpilibj/src/athena/cpp/lib/HAL.cpp index 15bfe0ec61..14147436a3 100644 --- a/wpilibj/src/athena/cpp/lib/HAL.cpp +++ b/wpilibj/src/athena/cpp/lib/HAL.cpp @@ -138,7 +138,7 @@ Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation(JNIEnv*, jclass) { /* * Class: edu_wpi_first_wpilibj_hal_HAL * Method: HAL_GetJoystickAxes - * Signature: (B[S)S + * Signature: (B[F)S */ JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes(JNIEnv* env, jclass, @@ -186,7 +186,7 @@ Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs(JNIEnv* env, jclass, /* * Class: edu_wpi_first_wpilibj_hal_HAL * Method: HAL_GetJoystickButtons - * Signature: (B)B + * Signature: (BL)B */ JNIEXPORT jbyte JNICALL Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons(JNIEnv* env, jclass, diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java index c6343890ea..c629ec0239 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java @@ -51,7 +51,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindow @SuppressWarnings("MemberName") public final byte value; - Axes(byte value) { + private Axes(byte value) { this.value = value; } } @@ -92,7 +92,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindow setRange(range); HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C); - LiveWindow.addSensor("ADXL345_I2C", port.getValue(), this); + LiveWindow.addSensor("ADXL345_I2C", port.value, this); } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java index 5ff254944d..92da70dad8 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java @@ -53,7 +53,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer, LiveWindow @SuppressWarnings("MemberName") public final byte value; - Axes(byte value) { + private Axes(byte value) { this.value = value; } } @@ -77,7 +77,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer, LiveWindow public ADXL345_SPI(SPI.Port port, Range range) { m_spi = new SPI(port); init(range); - LiveWindow.addSensor("ADXL345_SPI", port.getValue(), this); + LiveWindow.addSensor("ADXL345_SPI", port.value, this); } public void free() { diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java index 6d5cda72b9..5f08b5314b 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java @@ -45,20 +45,16 @@ public class ADXL362 extends SensorBase implements Accelerometer, LiveWindowSend kY((byte) 0x02), kZ((byte) 0x04); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final byte value; - Axes(byte value) { + private Axes(byte value) { this.value = value; } } @SuppressWarnings("MemberName") public static class AllAxes { - public double XAxis; public double YAxis; public double ZAxis; @@ -98,7 +94,7 @@ public class ADXL362 extends SensorBase implements Accelerometer, LiveWindowSend if (transferBuffer.get(2) != (byte) 0xF2) { m_spi.free(); m_spi = null; - DriverStation.reportError("could not find ADXL362 on SPI port " + port.getValue(), false); + DriverStation.reportError("could not find ADXL362 on SPI port " + port.value, false); return; } @@ -110,8 +106,8 @@ public class ADXL362 extends SensorBase implements Accelerometer, LiveWindowSend transferBuffer.put(2, (byte) (kPowerCtl_Measure | kPowerCtl_UltraLowNoise)); m_spi.write(transferBuffer, 3); - HAL.report(tResourceType.kResourceType_ADXL362, port.getValue()); - LiveWindow.addSensor("ADXL362", port.getValue(), this); + HAL.report(tResourceType.kResourceType_ADXL362, port.value); + LiveWindow.addSensor("ADXL362", port.value, this); } public void free() { diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java index adeaa6815d..946fc743c7 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java @@ -67,18 +67,18 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, LiveWind if ((readRegister(kPIDRegister) & 0xff00) != 0x5200) { m_spi.free(); m_spi = null; - DriverStation.reportError("could not find ADXRS450 gyro on SPI port " + port.getValue(), + DriverStation.reportError("could not find ADXRS450 gyro on SPI port " + port.value, false); return; } - m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c00000e, 0x04000000, - 10, 16, true, true); + m_spi.initAccumulator(kSamplePeriod, 0x20000000, 4, 0x0c00000e, 0x04000000, 10, 16, + true, true); calibrate(); - HAL.report(tResourceType.kResourceType_ADXRS450, port.getValue()); - LiveWindow.addSensor("ADXRS450_Gyro", port.getValue(), this); + HAL.report(tResourceType.kResourceType_ADXRS450, port.value); + LiveWindow.addSensor("ADXRS450_Gyro", port.value, this); } @Override diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java index b32615696c..ab853b0475 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java @@ -43,7 +43,6 @@ public class AnalogTriggerOutput extends DigitalSource { * Exceptions dealing with improper operation of the Analog trigger output. */ public class AnalogTriggerOutputException extends RuntimeException { - /** * Create a new exception with the given message. * @@ -52,7 +51,6 @@ public class AnalogTriggerOutput extends DigitalSource { public AnalogTriggerOutputException(String message) { super(message); } - } private final AnalogTrigger m_trigger; @@ -78,7 +76,7 @@ public class AnalogTriggerOutput extends DigitalSource { m_outputType = outputType; HAL.report(tResourceType.kResourceType_AnalogTriggerOutput, - trigger.getIndex(), outputType.m_value); + trigger.getIndex(), outputType.value); } /** @@ -97,7 +95,7 @@ public class AnalogTriggerOutput extends DigitalSource { * @return The state of the analog trigger output. */ public boolean get() { - return AnalogJNI.getAnalogTriggerOutput(m_trigger.m_port, m_outputType.m_value); + return AnalogJNI.getAnalogTriggerOutput(m_trigger.m_port, m_outputType.value); } @Override @@ -107,7 +105,7 @@ public class AnalogTriggerOutput extends DigitalSource { @Override public int getAnalogTriggerTypeForRouting() { - return m_outputType.m_value; + return m_outputType.value; } @Override @@ -128,10 +126,11 @@ public class AnalogTriggerOutput extends DigitalSource { kRisingPulse(AnalogJNI.AnalogTriggerType.kRisingPulse), kFallingPulse(AnalogJNI.AnalogTriggerType.kFallingPulse); - private final int m_value; + @SuppressWarnings("MemberName") + private final int value; - AnalogTriggerType(int value) { - m_value = value; + private AnalogTriggerType(int value) { + this.value = value; } } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java index 2e49b148f4..79aa26b437 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java @@ -50,13 +50,10 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab */ kExternalDirection(3); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - Mode(int value) { + private Mode(int value) { this.value = value; } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CounterBase.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CounterBase.java index 01a98979ec..ca4e7bbdc5 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CounterBase.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CounterBase.java @@ -34,13 +34,10 @@ public interface CounterBase { */ k4X(2); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - EncodingType(int value) { + private EncodingType(int value) { this.value = value; } } diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java index c73fe5ec59..b2678db49a 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java @@ -23,18 +23,15 @@ import edu.wpi.first.wpilibj.util.BoundaryException; public class I2C extends SensorBase { public enum Port { kOnboard(0), kMXP(1); - private int m_value; - Port(int value) { - m_value = value; - } + @SuppressWarnings("MemberName") + public final int value; - public int getValue() { - return m_value; + private Port(int value) { + this.value = value; } } - private final Port m_port; private final int m_deviceAddress; @@ -48,7 +45,7 @@ public class I2C extends SensorBase { m_port = port; m_deviceAddress = deviceAddress; - I2CJNI.i2CInitialize((byte) port.getValue()); + I2CJNI.i2CInitialize((byte) port.value); HAL.report(tResourceType.kResourceType_I2C, deviceAddress); } @@ -81,10 +78,8 @@ public class I2C extends SensorBase { } ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(receiveSize); - status = I2CJNI - .i2CTransaction((byte) m_port.getValue(), (byte) m_deviceAddress, - dataToSendBuffer, (byte) sendSize, dataReceivedBuffer, - (byte) receiveSize); + status = I2CJNI.i2CTransaction((byte) m_port.value, (byte) m_deviceAddress, dataToSendBuffer, + (byte) sendSize, dataReceivedBuffer, (byte) receiveSize); if (receiveSize > 0 && dataReceived != null) { dataReceivedBuffer.get(dataReceived); } @@ -121,10 +116,8 @@ public class I2C extends SensorBase { "dataReceived is too small, must be at least " + receiveSize); } - return I2CJNI - .i2CTransaction((byte) m_port.getValue(), (byte) m_deviceAddress, - dataToSend, (byte) sendSize, dataReceived, (byte) receiveSize) - < receiveSize; + return I2CJNI.i2CTransaction((byte) m_port.value, (byte) m_deviceAddress, dataToSend, + (byte) sendSize, dataReceived, (byte) receiveSize) < receiveSize; } /** @@ -155,8 +148,8 @@ public class I2C extends SensorBase { ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(2); dataToSendBuffer.put(buffer); - return I2CJNI.i2CWrite((byte) m_port.getValue(), (byte) m_deviceAddress, - dataToSendBuffer, (byte) buffer.length) < buffer.length; + return I2CJNI.i2CWrite((byte) m_port.value, (byte) m_deviceAddress, dataToSendBuffer, + (byte) buffer.length) < buffer.length; } /** @@ -170,8 +163,8 @@ public class I2C extends SensorBase { ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(data.length); dataToSendBuffer.put(data); - return I2CJNI.i2CWrite((byte) m_port.getValue(), (byte) m_deviceAddress, - dataToSendBuffer, (byte) data.length) < data.length; + return I2CJNI.i2CWrite((byte) m_port.value, (byte) m_deviceAddress, dataToSendBuffer, + (byte) data.length) < data.length; } /** @@ -190,8 +183,7 @@ public class I2C extends SensorBase { "buffer is too small, must be at least " + size); } - return I2CJNI.i2CWrite((byte) m_port.getValue(), (byte) m_deviceAddress, - data, (byte) size) < size; + return I2CJNI.i2CWrite((byte) m_port.value, (byte) m_deviceAddress, data, (byte) size) < size; } /** @@ -269,9 +261,8 @@ public class I2C extends SensorBase { ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(count); - int retVal = I2CJNI - .i2CRead((byte) m_port.getValue(), (byte) m_deviceAddress, dataReceivedBuffer, - (byte) count); + int retVal = I2CJNI.i2CRead((byte) m_port.value, (byte) m_deviceAddress, dataReceivedBuffer, + (byte) count); dataReceivedBuffer.get(buffer); return retVal < count; } @@ -299,8 +290,8 @@ public class I2C extends SensorBase { throw new IllegalArgumentException("buffer is too small, must be at least " + count); } - return I2CJNI - .i2CRead((byte) m_port.getValue(), (byte) m_deviceAddress, buffer, (byte) count) < count; + return I2CJNI.i2CRead((byte) m_port.value, (byte) m_deviceAddress, buffer, (byte) count) + < count; } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java index de273468c7..ec47d1a059 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java @@ -23,18 +23,7 @@ public abstract class InterruptableSensorBase extends SensorBase { @SuppressWarnings("MemberName") public final int value; - @SuppressWarnings("JavadocMethod") - public static WaitResult valueOf(int value) { - for (WaitResult mode : values()) { - if (mode.value == value) { - return mode; - } - } - return null; - } - - - WaitResult(int value) { + private WaitResult(int value) { this.value = value; } } @@ -153,7 +142,12 @@ public abstract class InterruptableSensorBase extends SensorBase { } int result = InterruptJNI.waitForInterrupt(m_interrupt, timeout, ignorePrevious); - return WaitResult.valueOf(result); + for (WaitResult mode : WaitResult.values()) { + if (mode.value == result) { + return mode; + } + } + return null; } /** diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java index bcee3457d4..2a77f8492f 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java @@ -30,43 +30,11 @@ public class Joystick extends GenericHID { /** * Represents an analog axis on a joystick. */ - public static final class AxisType { + public enum AxisType { + kX(0), kY(1), kZ(2), kTwist(3), kThrottle(4), kNumAxis(5); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - static final int kX_val = 0; - static final int kY_val = 1; - static final int kZ_val = 2; - static final int kTwist_val = 3; - static final int kThrottle_val = 4; - static final int kNumAxis_val = 5; - /** - * axis: x-axis. - */ - public static final AxisType kX = new AxisType(kX_val); - /** - * axis: y-axis. - */ - public static final AxisType kY = new AxisType(kY_val); - /** - * axis: z-axis. - */ - public static final AxisType kZ = new AxisType(kZ_val); - /** - * axis: twist. - */ - public static final AxisType kTwist = new AxisType(kTwist_val); - /** - * axis: throttle. - */ - public static final AxisType kThrottle = new AxisType(kThrottle_val); - /** - * axis: number of axis. - */ - public static final AxisType kNumAxis = new AxisType(kNumAxis_val); private AxisType(int value) { this.value = value; @@ -76,28 +44,11 @@ public class Joystick extends GenericHID { /** * Represents a digital button on the JoyStick. */ - public static final class ButtonType { + public enum ButtonType { + kTrigger(0), kTop(1), kNumButton(2); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - static final int kTrigger_val = 0; - static final int kTop_val = 1; - static final int kNumButton_val = 2; - /** - * button: trigger. - */ - public static final ButtonType kTrigger = new ButtonType((kTrigger_val)); - /** - * button: top button. - */ - public static final ButtonType kTop = new ButtonType(kTop_val); - /** - * button: num button types. - */ - public static final ButtonType kNumButton = new ButtonType((kNumButton_val)); private ButtonType(int value) { this.value = value; @@ -108,27 +59,8 @@ public class Joystick extends GenericHID { /** * Represents a rumble output on the JoyStick. */ - public static final class RumbleType { - - /** - * The integer value representing this enumeration. - */ - @SuppressWarnings("MemberName") - public final int value; - static final int kLeftRumble_val = 0; - static final int kRightRumble_val = 1; - /** - * Left Rumble. - */ - public static final RumbleType kLeftRumble = new RumbleType((kLeftRumble_val)); - /** - * Right Rumble. - */ - public static final RumbleType kRightRumble = new RumbleType(kRightRumble_val); - - private RumbleType(int value) { - this.value = value; - } + public enum RumbleType { + kLeftRumble, kRightRumble } private final DriverStation m_ds; @@ -250,16 +182,16 @@ public class Joystick extends GenericHID { * @return The value of the axis. */ public double getAxis(final AxisType axis) { - switch (axis.value) { - case AxisType.kX_val: + switch (axis) { + case kX: return getX(); - case AxisType.kY_val: + case kY: return getY(); - case AxisType.kZ_val: + case kZ: return getZ(); - case AxisType.kTwist_val: + case kTwist: return getTwist(); - case AxisType.kThrottle_val: + case kThrottle: return getThrottle(); default: return 0.0; @@ -359,10 +291,10 @@ public class Joystick extends GenericHID { * @return The state of the button. */ public boolean getButton(ButtonType button) { - switch (button.value) { - case ButtonType.kTrigger_val: + switch (button) { + case kTrigger: return getTrigger(); - case ButtonType.kTop_val: + case kTop: return getTop(); default: return false; @@ -468,7 +400,7 @@ public class Joystick extends GenericHID { } else if (value > 1) { value = 1; } - if (type.value == RumbleType.kLeftRumble_val) { + if (type == RumbleType.kLeftRumble) { m_leftRumble = (short) (value * 65535); } else { m_rightRumble = (short) (value * 65535); diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java index 654d43e931..f3c134b5b3 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java @@ -32,32 +32,19 @@ public class PWM extends SensorBase implements LiveWindowSendable { /** * Represents the amount to multiply the minimum servo-pulse pwm period by. */ - public static class PeriodMultiplier { - - /** - * The integer value representing this enumeration. - */ - @SuppressWarnings("MemberName") - public final int value; - static final int k1X_val = 1; - static final int k2X_val = 2; - static final int k4X_val = 4; + public enum PeriodMultiplier { /** * Period Multiplier: don't skip pulses. */ - public static final PeriodMultiplier k1X = new PeriodMultiplier(k1X_val); + k1X, /** * Period Multiplier: skip every other pulse. */ - public static final PeriodMultiplier k2X = new PeriodMultiplier(k2X_val); + k2X, /** * Period Multiplier: skip three out of four pulses. */ - public static final PeriodMultiplier k4X = new PeriodMultiplier(k4X_val); - - private PeriodMultiplier(int value) { - this.value = value; - } + k4X } private int m_channel; @@ -252,16 +239,16 @@ public class PWM extends SensorBase implements LiveWindowSendable { * @param mult The period multiplier to apply to this channel */ public void setPeriodMultiplier(PeriodMultiplier mult) { - switch (mult.value) { - case PeriodMultiplier.k4X_val: + switch (mult) { + case k4X: // Squelch 3 out of 4 outputs PWMJNI.setPWMPeriodScale(m_handle, 3); break; - case PeriodMultiplier.k2X_val: + case k2X: // Squelch 1 out of 2 outputs PWMJNI.setPWMPeriodScale(m_handle, 1); break; - case PeriodMultiplier.k1X_val: + case k1X: // Don't squelch any outputs PWMJNI.setPWMPeriodScale(m_handle, 0); break; diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java index 5d37c04b9d..02e1eca51a 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java @@ -51,32 +51,7 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable * The state to drive a Relay to. */ public enum Value { - /** - * value: off. - */ - kOff(0), - /** - * value: on for relays with defined direction. - */ - kOn(1), - /** - * value: forward. - */ - kForward(2), - /** - * value: reverse. - */ - kReverse(3); - - /** - * The integer value representing this enumeration. - */ - @SuppressWarnings("MemberName") - public final int value; - - Value(int value) { - this.value = value; - } + kOff, kOn, kForward, kReverse } /** @@ -87,26 +62,15 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable * direction: both directions are valid. */ - kBoth(0), + kBoth, /** * direction: Only forward is valid. */ - kForward(1), + kForward, /** * direction: only reverse is valid. */ - kReverse(2); - - /** - * The integer value representing this enumeration. - */ - @SuppressWarnings("MemberName") - public final int value; - - Direction(int value) { - this.value = value; - } - + kReverse } private final int m_channel; diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java index 8c1acdad0c..2665bbb4e1 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java @@ -28,33 +28,11 @@ public class RobotDrive implements MotorSafety { /** * The location of a motor on the robot for the purpose of driving. */ - public static class MotorType { + public enum MotorType { + kFrontLeft(0), kFrontRight(1), kRearLeft(2), kRearRight(3); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - static final int kFrontLeft_val = 0; - static final int kFrontRight_val = 1; - static final int kRearLeft_val = 2; - static final int kRearRight_val = 3; - /** - * motortype: front left. - */ - public static final MotorType kFrontLeft = new MotorType(kFrontLeft_val); - /** - * motortype: front right. - */ - public static final MotorType kFrontRight = new MotorType(kFrontRight_val); - /** - * motortype: rear left. - */ - public static final MotorType kRearLeft = new MotorType(kRearLeft_val); - /** - * motortype: rear right. - */ - public static final MotorType kRearRight = new MotorType(kRearRight_val); private MotorType(int value) { this.value = value; @@ -496,16 +474,16 @@ public class RobotDrive implements MotorSafety { yIn = rotated[1]; double[] wheelSpeeds = new double[kMaxNumberOfMotors]; - wheelSpeeds[MotorType.kFrontLeft_val] = xIn + yIn + rotation; - wheelSpeeds[MotorType.kFrontRight_val] = -xIn + yIn - rotation; - wheelSpeeds[MotorType.kRearLeft_val] = -xIn + yIn + rotation; - wheelSpeeds[MotorType.kRearRight_val] = xIn + yIn - rotation; + wheelSpeeds[MotorType.kFrontLeft.value] = xIn + yIn + rotation; + wheelSpeeds[MotorType.kFrontRight.value] = -xIn + yIn - rotation; + wheelSpeeds[MotorType.kRearLeft.value] = -xIn + yIn + rotation; + wheelSpeeds[MotorType.kRearRight.value] = xIn + yIn - rotation; normalize(wheelSpeeds); - m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_maxOutput); - m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_maxOutput); - m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_maxOutput); - m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_maxOutput); + m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft.value] * m_maxOutput); + m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight.value] * m_maxOutput); + m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft.value] * m_maxOutput); + m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight.value] * m_maxOutput); if (m_safetyHelper != null) { m_safetyHelper.feed(); @@ -539,17 +517,17 @@ public class RobotDrive implements MotorSafety { double sinD = Math.sin(dirInRad); double[] wheelSpeeds = new double[kMaxNumberOfMotors]; - wheelSpeeds[MotorType.kFrontLeft_val] = (sinD * magnitude + rotation); - wheelSpeeds[MotorType.kFrontRight_val] = (cosD * magnitude - rotation); - wheelSpeeds[MotorType.kRearLeft_val] = (cosD * magnitude + rotation); - wheelSpeeds[MotorType.kRearRight_val] = (sinD * magnitude - rotation); + wheelSpeeds[MotorType.kFrontLeft.value] = (sinD * magnitude + rotation); + wheelSpeeds[MotorType.kFrontRight.value] = (cosD * magnitude - rotation); + wheelSpeeds[MotorType.kRearLeft.value] = (cosD * magnitude + rotation); + wheelSpeeds[MotorType.kRearRight.value] = (sinD * magnitude - rotation); normalize(wheelSpeeds); - m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft_val] * m_maxOutput); - m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight_val] * m_maxOutput); - m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft_val] * m_maxOutput); - m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight_val] * m_maxOutput); + m_frontLeftMotor.set(wheelSpeeds[MotorType.kFrontLeft.value] * m_maxOutput); + m_frontRightMotor.set(wheelSpeeds[MotorType.kFrontRight.value] * m_maxOutput); + m_rearLeftMotor.set(wheelSpeeds[MotorType.kRearLeft.value] * m_maxOutput); + m_rearRightMotor.set(wheelSpeeds[MotorType.kRearRight.value] * m_maxOutput); if (m_safetyHelper != null) { m_safetyHelper.feed(); @@ -652,17 +630,17 @@ public class RobotDrive implements MotorSafety { * @param isInverted True if the motor should be inverted when operated. */ public void setInvertedMotor(MotorType motor, boolean isInverted) { - switch (motor.value) { - case MotorType.kFrontLeft_val: + switch (motor) { + case kFrontLeft: m_frontLeftMotor.setInverted(isInverted); break; - case MotorType.kFrontRight_val: + case kFrontRight: m_frontRightMotor.setInverted(isInverted); break; - case MotorType.kRearLeft_val: + case kRearLeft: m_rearLeftMotor.setInverted(isInverted); break; - case MotorType.kRearRight_val: + case kRearRight: m_rearRightMotor.setInverted(isInverted); break; default: diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java index ef30c012ad..f112f11d42 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java @@ -22,14 +22,11 @@ public class SPI extends SensorBase { public enum Port { kOnboardCS0(0), kOnboardCS1(1), kOnboardCS2(2), kOnboardCS3(3), kMXP(4); - private int m_value; + @SuppressWarnings("MemberName") + public int value; - Port(int value) { - m_value = value; - } - - public int getValue() { - return m_value; + private Port(int value) { + this.value = value; } } @@ -46,7 +43,7 @@ public class SPI extends SensorBase { * @param port the physical SPI port */ public SPI(Port port) { - m_port = (byte) port.getValue(); + m_port = (byte) port.value; devices++; SPIJNI.spiInitialize(m_port); diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java index 4daec70d71..be04177f90 100644 --- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java +++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java @@ -32,52 +32,22 @@ public class SerialPort { public enum Port { kOnboard(0), kMXP(1), kUSB(2); - private int m_value; + @SuppressWarnings("MemberName") + public int value; - Port(int value) { - m_value = value; - } - - public int getValue() { - return m_value; + private Port(int value) { + this.value = value; } } /** * Represents the parity to use for serial communications. */ - public static class Parity { + public enum Parity { + kNone(0), kOdd(1), kEven(2), kMark(3), kSpace(4); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - static final int kNone_val = 0; - static final int kOdd_val = 1; - static final int kEven_val = 2; - static final int kMark_val = 3; - static final int kSpace_val = 4; - /** - * parity: Use no parity. - */ - public static final Parity kNone = new Parity(kNone_val); - /** - * parity: Use odd parity. - */ - public static final Parity kOdd = new Parity(kOdd_val); - /** - * parity: Use even parity. - */ - public static final Parity kEven = new Parity(kEven_val); - /** - * parity: Use mark parity. - */ - public static final Parity kMark = new Parity(kMark_val); - /** - * parity: Use space parity. - */ - public static final Parity kSpace = new Parity((kSpace_val)); private Parity(int value) { this.value = value; @@ -87,28 +57,11 @@ public class SerialPort { /** * Represents the number of stop bits to use for Serial Communication. */ - public static class StopBits { + public enum StopBits { + kOne(0), kOnePointFive(1), kTwo(2); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - static final int kOne_val = 10; - static final int kOnePointFive_val = 15; - static final int kTwo_val = 20; - /** - * stopBits: use 1. - */ - public static final StopBits kOne = new StopBits(kOne_val); - /** - * stopBits: use 1.5. - */ - public static final StopBits kOnePointFive = new StopBits(kOnePointFive_val); - /** - * stopBits: use 2. - */ - public static final StopBits kTwo = new StopBits(kTwo_val); private StopBits(int value) { this.value = value; @@ -118,33 +71,11 @@ public class SerialPort { /** * Represents what type of flow control to use for serial communication. */ - public static class FlowControl { + public enum FlowControl { + kNone(0), kXonXoff(1), kRtsCts(2), kDtsDsr(3); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - static final int kNone_val = 0; - static final int kXonXoff_val = 1; - static final int kRtsCts_val = 2; - static final int kDtrDsr_val = 4; - /** - * flowControl: use none. - */ - public static final FlowControl kNone = new FlowControl(kNone_val); - /** - * flowcontrol: use on/off. - */ - public static final FlowControl kXonXoff = new FlowControl(kXonXoff_val); - /** - * flowcontrol: use rts cts. - */ - public static final FlowControl kRtsCts = new FlowControl(kRtsCts_val); - /** - * flowcontrol: use dts dsr. - */ - public static final FlowControl kDtrDsr = new FlowControl(kDtrDsr_val); private FlowControl(int value) { this.value = value; @@ -154,23 +85,11 @@ public class SerialPort { /** * Represents which type of buffer mode to use when writing to a serial m_port. */ - public static class WriteBufferMode { + public enum WriteBufferMode { + kFlushOnAccess(0), kFlushWhenFull(1); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - static final int kFlushOnAccess_val = 1; - static final int kFlushWhenFull_val = 2; - /** - * Flush on access. - */ - public static final WriteBufferMode kFlushOnAccess = new WriteBufferMode(kFlushOnAccess_val); - /** - * Flush when full. - */ - public static final WriteBufferMode kFlushWhenFull = new WriteBufferMode(kFlushWhenFull_val); private WriteBufferMode(int value) { this.value = value; @@ -188,7 +107,7 @@ public class SerialPort { */ public SerialPort(final int baudRate, Port port, final int dataBits, Parity parity, StopBits stopBits) { - m_port = (byte) port.getValue(); + m_port = (byte) port.value; SerialPortJNI.serialInitializePort(m_port); SerialPortJNI.serialSetBaudRate(m_port, baudRate); diff --git a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/GenericHID.java b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/GenericHID.java index 8b7fc62e56..6baf24b2e6 100644 --- a/wpilibj/src/shared/java/edu/wpi/first/wpilibj/GenericHID.java +++ b/wpilibj/src/shared/java/edu/wpi/first/wpilibj/GenericHID.java @@ -11,27 +11,14 @@ package edu.wpi.first.wpilibj; * GenericHID Interface. */ public abstract class GenericHID { - /** * Which hand the Human Interface Device is associated with. */ - public static class Hand { + public enum Hand { + kLeft(0), kRight(1); - /** - * The integer value representing this enumeration. - */ @SuppressWarnings("MemberName") public final int value; - static final int kLeft_val = 0; - static final int kRight_val = 1; - /** - * hand: left. - */ - public static final Hand kLeft = new Hand(kLeft_val); - /** - * hand: right. - */ - public static final Hand kRight = new Hand(kRight_val); private Hand(int value) { this.value = value; diff --git a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/CounterBase.java b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/CounterBase.java index a7493a0e9d..31da0be44d 100644 --- a/wpilibj/src/sim/java/edu/wpi/first/wpilibj/CounterBase.java +++ b/wpilibj/src/sim/java/edu/wpi/first/wpilibj/CounterBase.java @@ -34,9 +34,6 @@ public interface CounterBase { */ k4X(2); - /** - * The integer value representing this enumeration - */ public final int value; private EncodingType(int value) {