Initial checkin of unified hierarchy of WPILib 2015

wpilibj/RunTestsProject/src/main/java/Assemblies/DIOCrossConnect.java

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+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package Assemblies;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DigitalOutput;
+
+/**
+ *
+ * @author brad
+ */
+public class DIOCrossConnect {
+    
+     /**
+     * Cross connected Digital I/O lines.
+     * The A1, B1, C1, and D1 are digital module 1 and
+     * A2, B2, C2, and D2 are digital module 2
+     */
+    public static final int DIOCrossConnectA1 = 8;
+    public static final int DIOCrossConnectA2 = 11;
+    public static final int DIOCrossConnectB1 = 9;
+    public static final int DIOCrossConnectB2 = 10;
+    public static final int DIOCrossConnectC1 = 10;
+    public static final int DIOCrossConnectC2 = 9;
+    public static final int DIOCrossConnectD1 = 11;
+    public static final int DIOCrossConnectD2 = 8;
+
+    public static DigitalOutput getOutputA() {
+        return new DigitalOutput(DIOCrossConnectA1);
+    }
+    
+    public static DigitalInput getInputA() {
+        return new DigitalInput(2, DIOCrossConnectA2);
+    }
+    
+    public static DigitalOutput getOutputB() {
+        return new DigitalOutput(DIOCrossConnectB1);
+    }
+    
+    public static DigitalInput getInputB() {
+        return new DigitalInput(2, DIOCrossConnectB2);
+    }
+    
+    public static DigitalOutput getOutputC() {
+        return new DigitalOutput(DIOCrossConnectC1);
+    }
+    
+    public static DigitalInput getInputC() {
+        return new DigitalInput(2, DIOCrossConnectC2);
+    }
+    
+    public static DigitalOutput getOutputD() {
+        return new DigitalOutput(DIOCrossConnectD1);
+    }
+    
+    public static DigitalInput getInputD() {
+        return new DigitalInput(2, DIOCrossConnectD2);
+    }
+}

wpilibj/RunTestsProject/src/main/java/Assemblies/FakeCounterSource.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package Assemblies;
+
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * @file FakeCounterSource.java
+ * Simulates an encoder for testing purposes
+ * @author Ryan O'Meara
+ */
+public class FakeCounterSource
+{
+
+    private Thread m_task;
+    private int m_count;
+    private int m_mSec;
+    private DigitalOutput m_output;
+
+    /**
+     * Thread object that allows emulation of an encoder
+     */
+    private class EncoderThread extends Thread
+    {
+
+        FakeCounterSource m_encoder;
+
+        EncoderThread(FakeCounterSource encode)
+        {
+            m_encoder = encode;
+        }
+
+        public void run()
+        {
+            m_encoder.m_output.set(false);
+            try
+            {
+                for (int i = 0; i < m_encoder.m_count; i++)
+                {
+                    Thread.sleep(m_encoder.m_mSec);
+                    m_encoder.m_output.set(true);
+                    Thread.sleep(m_encoder.m_mSec);
+                    m_encoder.m_output.set(false);
+                }
+            } catch (InterruptedException e)
+            {
+            }
+        }
+    }
+
+    /**
+     * Create a fake encoder on a given port
+     * @param port The port the encoder is supposed to be on
+     */
+    public FakeCounterSource(int port)
+    {
+        m_output = new DigitalOutput(port);
+        initEncoder();
+    }
+
+    /**
+     * Create a new fake encoder on the indicated slot and port
+     * @param slot Slot to create on
+     * @param port THe port that the encoder is supposably on
+     */
+    public FakeCounterSource(int slot, int port)
+    {
+        m_output = new DigitalOutput(slot, port);
+        initEncoder();
+    }
+
+    /**
+     * Destroy Object with minimum memory leak
+     */
+    public void free()
+    {
+        m_task = null;
+        m_output.free();
+    }
+
+    /**
+     * Common initailization code
+     */
+    private void initEncoder()
+    {
+        m_mSec = 1;
+        m_task = new EncoderThread(this);
+        m_output.set(false);
+    }
+
+    /**
+     * Starts the thread execution task
+     */
+    public void start()
+    {
+        m_task.start();
+    }
+
+    /**
+     * Waits for the thread to complete
+     */
+    public void complete()
+    {
+        try
+        {
+            m_task.join();
+        } catch (InterruptedException e)
+        {
+        }
+        m_task = new EncoderThread(this);
+        Timer.delay(.5);
+    }
+
+    /**
+     * Starts and completes a task set - does not return until thred has finished
+     * its operations
+     */
+    public void execute()
+    {
+        start();
+        complete();
+    }
+
+    /**
+     * Sets the count to run encoder
+     * @param count The count to emulate to the controller
+     */
+    public void setCount(int count)
+    {
+        m_count = count;
+    }
+
+    /**
+     * Specify the rate to send pulses
+     * @param mSec The rate to send out pulses at
+     */
+    public void setRate(int mSec)
+    {
+        m_mSec = mSec;
+    }
+}

wpilibj/RunTestsProject/src/main/java/Assemblies/FakeEncoderSource.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package Assemblies;
+
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * @file FakeEncoderSource.java
+ * Emulates a quadrature encoder
+ * @author Ryan O'Meara
+ */
+public class FakeEncoderSource
+{
+
+    private Thread m_task;
+    private int m_count;
+    private int m_mSec;
+    private boolean m_forward;
+    private DigitalOutput m_outputA, m_outputB;
+    private boolean allocatedOutputs;
+
+    /**
+     * Thread object that allows emulation of a quadrature encoder
+     */
+    private class QuadEncoderThread extends Thread
+    {
+
+        FakeEncoderSource m_encoder;
+
+        QuadEncoderThread(FakeEncoderSource encode)
+        {
+            m_encoder = encode;
+        }
+
+        public void run()
+        {
+
+            DigitalOutput lead, lag;
+
+            m_encoder.m_outputA.set(false);
+            m_encoder.m_outputB.set(false);
+
+            if (m_encoder.isForward())
+            {
+                lead = m_encoder.m_outputA;
+                lag = m_encoder.m_outputB;
+            } else
+            {
+                lead = m_encoder.m_outputB;
+                lag = m_encoder.m_outputA;
+            }
+
+            try
+            {
+                for (int i = 0; i < m_encoder.m_count; i++)
+                {
+                    lead.set(true);
+                    Thread.sleep(m_encoder.m_mSec);
+                    lag.set(true);
+                    Thread.sleep(m_encoder.m_mSec);
+                    lead.set(false);
+                    Thread.sleep(m_encoder.m_mSec);
+                    lag.set(false);
+                    Thread.sleep(m_encoder.m_mSec);
+                }
+            } catch (InterruptedException e)
+            {
+            }
+        }
+    }
+
+    public FakeEncoderSource(int slotA, int portA, int slotB, int portB)
+    {
+        m_outputA = new DigitalOutput(slotA, portA);
+        m_outputB = new DigitalOutput(slotB, portB);
+        allocatedOutputs = true;
+        initQuadEncoder();
+    }
+
+    public FakeEncoderSource(int portA, int portB)
+    {
+        m_outputA = new DigitalOutput(portA);
+        m_outputB = new DigitalOutput(portB);
+        allocatedOutputs = true;
+        initQuadEncoder();
+    }
+
+    public FakeEncoderSource(DigitalOutput iA, DigitalOutput iB)
+    {
+        m_outputA = iA;
+        m_outputB = iB;
+        allocatedOutputs = false;
+        initQuadEncoder();
+    }
+
+    public void free()
+    {
+        m_task = null;
+        if (allocatedOutputs) {
+            m_outputA.free();
+            m_outputB.free();
+        }
+    }
+
+    /**
+     * Common initialization code
+     */
+    private void initQuadEncoder()
+    {
+        m_mSec = 1;
+        m_forward = true;
+        m_task = new QuadEncoderThread(this);
+        m_outputA.set(false);
+        m_outputB.set(false);
+    }
+
+    /**
+     * Starts the thread
+     */
+    public void start()
+    {
+        m_task.start();
+    }
+
+    /**
+     * Waits for thread to end
+     */
+    public void complete()
+    {
+        try
+        {
+            m_task.join();
+        } catch (InterruptedException e)
+        {
+        }
+        m_task = new QuadEncoderThread(this);
+        Timer.delay(.5);
+    }
+
+    /**
+     * Runs and waits for thread to end before returning
+     */
+    public void execute()
+    {
+        start();
+        complete();
+    }
+
+    /**
+     * Rate of pulses to send
+     * @param mSec Pulse Rate
+     */
+    public void setRate(int mSec)
+    {
+        m_mSec = mSec;
+    }
+
+    /**
+     * Set the number of pulses to simulate
+     * @param count Pulse count
+     */
+    public void setCount(int count)
+    {
+        m_count = count;
+    }
+
+    /**
+     * Set which direction the encoder simulates motion in
+     * @param isForward Whether to simulate forward motion
+     */
+    public void setForward(boolean isForward)
+    {
+        m_forward = isForward;
+    }
+
+    /**
+     * Accesses whether the encoder is simulating forward motion
+     * @return Whether the simulated motion is in the forward direction
+     */
+    public boolean isForward()
+    {
+        return m_forward;
+    }
+}

wpilibj/RunTestsProject/src/main/java/Assemblies/MagneticRotaryAssembly.java

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+package Assemblies;
+
+import edu.wpi.first.wpilibj.AnalogChannel;
+import edu.wpi.first.wpilibj.Counter;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Jaguar;
+
+/**
+ *
+ * @author brad
+ */
+public class MagneticRotaryAssembly {
+    
+    public static Jaguar getJaguar() {
+        return new Jaguar(1, 6);
+    }
+    
+    public static DigitalOutput getLimitSWFwd() {
+        return new DigitalOutput(2, 13);
+    }
+    
+    public static DigitalOutput getLimitSWRev() {
+        return new DigitalOutput(2, 14);
+    }
+    
+    public static Counter getGTS() {
+        return new Counter(1, 5);
+    }
+    
+    public static Encoder getEncoder() {
+        return new Encoder(1, 6, 1, 7);
+    }
+    
+    public static Counter getHallEffect() {
+        return new Counter(1, 1);
+    }
+    
+    public AnalogChannel getMagneticEncoder() {
+        return new AnalogChannel(2, 6);
+    }
+}

wpilibj/RunTestsProject/src/main/java/Assemblies/PotentiometerAssembly.java

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+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package Assemblies;
+
+import edu.wpi.first.wpilibj.AnalogChannel;
+import edu.wpi.first.wpilibj.Counter;
+import edu.wpi.first.wpilibj.DigitalOutput;
+import edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Victor;
+
+/**
+ *
+ * @author Fred
+ */
+public class PotentiometerAssembly {
+    
+    public static Jaguar getJaguar(){
+        return new Jaguar(1,5);
+    }
+    
+    public static DigitalOutput getLimSWFwd(){
+        return new DigitalOutput(1, 13);
+    }
+    
+    public static DigitalOutput getLimSWRev(){
+        return new DigitalOutput(1, 14);
+    }
+    
+    public static Victor getVictor(){
+        return new Victor(1, 2);
+    }
+    
+    public static AnalogChannel getPotentiometer(){
+        return new AnalogChannel(1, 3);
+    }
+    
+    public static Counter getHallEffect(){
+        return new Counter(1, 4);
+    }
+    
+    public static Counter getGearTooth(){
+        return new Counter(2, 7);
+    }
+}

wpilibj/RunTestsProject/src/main/java/Assemblies/RCAssembly.java

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+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package Assemblies;
+
+import edu.wpi.first.testing.SlowServo;
+import edu.wpi.first.wpilibj.Gyro;
+import edu.wpi.first.wpilibj.Servo;
+
+/**
+ *
+ * @author mwills
+ */
+public class RCAssembly {
+    
+    public static Servo getServo(){
+        return new SlowServo(1, 1);
+    }
+    
+    public static Gyro getGyro(){
+        return new Gyro(1, 1);
+    }
+    
+    /*public static SPIAccelerometer getAccelerometer(){
+        return new SPIAccelerometer(2, 1, 2, 3, 4, 5, 6);
+    }*/
+}