mirror of
https://github.com/wpilibsuite/allwpilib
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Removes CANJaguar from wpilib (#300)
Now located at https://github.com/wpilibsuite/CANJaguar.
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
29f999e2b2
commit
247cef5ec2
@@ -1,199 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj.fixtures;
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import java.util.logging.Logger;
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import edu.wpi.first.wpilibj.CANJaguar;
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import edu.wpi.first.wpilibj.DigitalOutput;
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import edu.wpi.first.wpilibj.Relay;
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import edu.wpi.first.wpilibj.Relay.Direction;
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import edu.wpi.first.wpilibj.Relay.Value;
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import edu.wpi.first.wpilibj.Timer;
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import edu.wpi.first.wpilibj.mockhardware.FakePotentiometerSource;
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/**
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* A fixture that wraps a {@link CANJaguar}.
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*/
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public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJaguar> implements
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ITestFixture {
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private static final Logger logger = Logger.getLogger(CANMotorEncoderFixture.class.getName());
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public static final double RELAY_POWER_UP_TIME = .75;
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private FakePotentiometerSource m_potSource;
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private DigitalOutput m_forwardLimit;
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private DigitalOutput m_reverseLimit;
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private Relay m_powerCycler;
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private boolean m_initialized = false;
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protected abstract FakePotentiometerSource giveFakePotentiometerSource();
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protected abstract DigitalOutput giveFakeForwardLimit();
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protected abstract DigitalOutput giveFakeReverseLimit();
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protected abstract Relay givePowerCycleRelay();
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public CANMotorEncoderFixture() {
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}
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private void initialize() {
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synchronized (this) {
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if (!m_initialized) {
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m_initialized = true;// This ensures it is only initialized once
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m_powerCycler = givePowerCycleRelay();
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m_powerCycler.setDirection(Direction.kForward);
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logger.fine("Turning on the power!");
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m_powerCycler.set(Value.kForward);
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m_forwardLimit = giveFakeForwardLimit();
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m_reverseLimit = giveFakeReverseLimit();
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m_forwardLimit.set(false);
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m_reverseLimit.set(false);
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m_potSource = giveFakePotentiometerSource();
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Timer.delay(RELAY_POWER_UP_TIME); // Delay so the relay has time to boot
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// up
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}
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}
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}
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@Override
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public boolean setup() {
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initialize(); // This initializes the Relay first
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return super.setup();
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}
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@Override
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public boolean reset() {
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initialize();
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m_potSource.reset();
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m_forwardLimit.set(false);
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m_reverseLimit.set(false);
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getMotor().setPercentMode(); // Get the Jaguar into a mode where setting the
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// speed means stop
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return super.reset();
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}
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@Override
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public boolean teardown() {
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boolean wasNull = false;
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if (m_potSource != null) {
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m_potSource.free();
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m_potSource = null;
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} else {
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wasNull = true;
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}
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if (m_forwardLimit != null) {
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m_forwardLimit.set(false);
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m_forwardLimit.free();
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m_forwardLimit = null;
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} else {
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wasNull = true;
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}
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if (m_reverseLimit != null) {
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m_reverseLimit.set(false);
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m_reverseLimit.free();
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m_reverseLimit = null;
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} else {
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wasNull = true;
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}
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boolean superTornDown = false;
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try {
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superTornDown = super.teardown();
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} finally {
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try {
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if (getMotor() != null) {
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getMotor().disableControl();
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getMotor().free();
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} else {
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wasNull = true;
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}
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} finally {
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if (m_powerCycler != null) {
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m_powerCycler.free();
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m_powerCycler = null;
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} else {
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wasNull = true;
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}
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}
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}
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if (wasNull) {
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throw new RuntimeException("CANMotorEncoderFixture had a null value at teardown");
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}
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return superTornDown;
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}
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public FakePotentiometerSource getFakePot() {
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initialize();
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return m_potSource;
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}
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public DigitalOutput getForwardLimit() {
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initialize();
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return m_forwardLimit;
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}
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public DigitalOutput getReverseLimit() {
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initialize();
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return m_reverseLimit;
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}
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/**
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* Prints the current status of the fixture.
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*/
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public String printStatus() {
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StringBuilder status = new StringBuilder("CAN Motor Encoder Status: ");
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if (getMotor() != null) {
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status.append("\t" + getMotor().getDescription() + "\n");
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status.append("\tFault = " + getMotor().getFaults() + "\n");
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status.append("\tValue = " + getMotor().get() + "\n");
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status.append("\tOutputVoltage = " + getMotor().getOutputVoltage() + "\n");
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status.append("\tPosition = " + getMotor().getPosition() + "\n");
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status.append("\tForward Limit Ok = " + getMotor().getForwardLimitOK() + "\n");
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status.append("\tReverse Limit Ok = " + getMotor().getReverseLimitOK() + "\n");
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} else {
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status.append("\t" + "CANJaguar Motor = null" + "\n");
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}
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if (m_forwardLimit != null) {
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status.append("\tForward Limit Output = " + m_forwardLimit.get() + "\n");
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} else {
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status.append("\tForward Limit Output = null" + "\n");
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}
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if (m_reverseLimit != null) {
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status.append("\tReverse Limit Output = " + m_reverseLimit.get() + "\n");
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} else {
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status.append("\tReverse Limit Output = null" + "\n");
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}
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return status.toString();
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}
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/**
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* Browns out the fixture for a specific ammount of time.
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*
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* @param seconds The number of seconds to brown out for.
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*/
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public void brownOut(double seconds) {
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initialize();
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powerOff();
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Timer.delay(seconds);
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powerOn();
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}
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public void powerOff() {
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initialize();
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m_powerCycler.set(Value.kOff);
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}
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public void powerOn() {
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initialize();
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m_powerCycler.set(Value.kForward);
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}
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}
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@@ -83,8 +83,7 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
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m_counters[0] = new Counter(m_alphaSource);
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m_counters[1] = new Counter(m_betaSource);
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logger.fine("Creating the speed controller!");
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m_motor = giveSpeedController(); // CANJaguar throws an exception if it
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// doesn't get the message
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m_motor = giveSpeedController();
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}
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}
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}
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