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[glass] Add more widgets (#2947)

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This adds the following widgets:
- Speed Controller
- Gyroscope
- Command
- Subsystem
- PIDController
- Scheduler
This commit is contained in:
Prateek Machiraju
2020-12-23 00:07:44 -05:00
committed by GitHub
parent 581b7ec553
commit 27b67deca6
25 changed files with 1101 additions and 0 deletions
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75
glass/src/libnt/native/cpp/NTPIDController.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "glass/networktables/NTPIDController.h"
using namespace glass;
NTPIDControllerModel::NTPIDControllerModel(wpi::StringRef path)
: NTPIDControllerModel(nt::GetDefaultInstance(), path) {}
NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
wpi::StringRef path)
: m_nt(instance),
m_name(m_nt.GetEntry(path + "/.name")),
m_p(m_nt.GetEntry(path + "/p")),
m_i(m_nt.GetEntry(path + "/i")),
m_d(m_nt.GetEntry(path + "/d")),
m_setpoint(m_nt.GetEntry(path + "/setpoint")),
m_pData("NTPIDCtrlP:" + path),
m_iData("NTPIDCtrlI:" + path),
m_dData("NTPIDCtrlD:" + path),
m_setpointData("NTPIDCtrlStpt:" + path),
m_nameValue(path.rsplit('/').second) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_p);
m_nt.AddListener(m_i);
m_nt.AddListener(m_d);
m_nt.AddListener(m_setpoint);
Update();
}
void NTPIDControllerModel::SetP(double value) {
nt::SetEntryValue(m_p, nt::NetworkTableValue::MakeDouble(value));
}
void NTPIDControllerModel::SetI(double value) {
nt::SetEntryValue(m_i, nt::NetworkTableValue::MakeDouble(value));
}
void NTPIDControllerModel::SetD(double value) {
nt::SetEntryValue(m_d, nt::NetworkTableValue::MakeDouble(value));
}
void NTPIDControllerModel::SetSetpoint(double value) {
nt::SetEntryValue(m_setpoint, nt::NetworkTableValue::MakeDouble(value));
}
void NTPIDControllerModel::Update() {
for (auto&& event : m_nt.PollListener()) {
if (event.entry == m_name) {
if (event.value && event.value->IsString())
m_nameValue = event.value->GetString();
} else if (event.entry == m_p) {
if (event.value && event.value->IsDouble())
m_pData.SetValue(event.value->GetDouble());
} else if (event.entry == m_i) {
if (event.value && event.value->IsDouble())
m_iData.SetValue(event.value->GetDouble());
} else if (event.entry == m_d) {
if (event.value && event.value->IsDouble())
m_dData.SetValue(event.value->GetDouble());
} else if (event.entry == m_setpoint) {
if (event.value && event.value->IsDouble())
m_setpointData.SetValue(event.value->GetDouble());
}
}
}
bool NTPIDControllerModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_setpoint) != NT_UNASSIGNED;
}