Initial checkin of unified hierarchy of WPILib 2015

2026-06-23 01:21:42 +00:00 · 2013-12-15 18:30:16 -05:00
commit 3178911eef
1560 changed files with 410007 additions and 0 deletions
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java
@@ -0,0 +1,165 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. 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 edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.communication.FRC_NetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.parsing.IDevice;
+import edu.wpi.first.wpilibj.tables.ITable;
+import edu.wpi.first.wpilibj.tables.ITableListener;
+
+/**
+ * Standard hobby style servo.
+ *
+ * The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
+ * in the FIRST Kit of Parts in 2008.
+ */
+public class Servo extends PWM implements IDevice {
+
+    private static final double kMaxServoAngle = 170.0;
+    private static final double kMinServoAngle = 0.0;
+
+    /**
+     * Common initialization code called by all constructors.
+     *
+     * InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
+     * well as the minimum and maximum PWM values supported by the servo.
+     */
+    private void initServo() {
+        setBounds(2.27, 0, 0, 0, .743);
+        setPeriodMultiplier(PeriodMultiplier.k4X);
+
+        LiveWindow.addActuator("Servo", getModuleNumber(), getChannel(), this);
+        UsageReporting.report(tResourceType.kResourceType_Servo, getChannel(), getModuleNumber()-1);
+    }
+
+    /**
+     * Constructor that assumes the default digital module.
+     *
+     * @param channel The PWM channel on the digital module to which the servo is attached.
+     */
+    public Servo(final int channel) {
+        super(channel);
+        initServo();
+    }
+
+    /**
+     * Constructor that specifies the digital module.
+     *
+     * @param slot The slot in the chassis that the digital module is plugged into.
+     * @param channel The PWM channel on the digital module to which the servo is attached.
+     */
+    public Servo(final int slot, final int channel) {
+        super(slot, channel);
+        initServo();
+    }
+
+    /**
+     * Set the servo position.
+     *
+     * Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
+     *
+     * @param value Position from 0.0 to 1.0.
+     */
+    public void set(double value) {
+        setPosition(value);
+    }
+
+    /**
+     * Get the servo position.
+     *
+     * Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
+     *
+     * @return Position from 0.0 to 1.0.
+     */
+    public double get() {
+        return getPosition();
+    }
+
+    /**
+     * Set the servo angle.
+     *
+     * Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
+     *
+     * Servo angles that are out of the supported range of the servo simply "saturate" in that direction
+     * In other words, if the servo has a range of (X degrees to Y degrees) than angles of less than X
+     * result in an angle of X being set and angles of more than Y degrees result in an angle of Y being set.
+     *
+     * @param degrees The angle in degrees to set the servo.
+     */
+    public void setAngle(double degrees) {
+        if (degrees < kMinServoAngle) {
+            degrees = kMinServoAngle;
+        } else if (degrees > kMaxServoAngle) {
+            degrees = kMaxServoAngle;
+        }
+
+        setPosition(((degrees - kMinServoAngle)) / getServoAngleRange());
+    }
+
+    /**
+     * Get the servo angle.
+     *
+     * Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
+     * @return The angle in degrees to which the servo is set.
+     */
+    public double getAngle() {
+        return getPosition() * getServoAngleRange() + kMinServoAngle;
+    }
+
+    private double getServoAngleRange() {
+        return kMaxServoAngle - kMinServoAngle;
+    }
+
+    /*
+     * Live Window code, only does anything if live window is activated.
+     */
+    public String getSmartDashboardType() {
+        return "Servo";
+    }
+    private ITable m_table;
+    private ITableListener m_table_listener;
+
+    /**
+     * {@inheritDoc}
+     */
+    public void initTable(ITable subtable) {
+        m_table = subtable;
+        updateTable();
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public void updateTable() {
+        if (m_table != null) {
+            m_table.putNumber("Value", get());
+        }
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public void startLiveWindowMode() {
+        m_table_listener = new ITableListener() {
+            public void valueChanged(ITable itable, String key, Object value, boolean bln) {
+                set(((Double) value).doubleValue());
+            }
+        };
+        m_table.addTableListener("Value", m_table_listener, true);
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public void stopLiveWindowMode() {
+        // TODO: Broken, should only remove the listener from "Value" only.
+        m_table.removeTableListener(m_table_listener);
+    }
+}