Changed AnalogChannel to AnalogInput, added AnalogOutput for MXP

Change-Id: I863d89c61ff2cf4a7a3aeeca1296978e728758b6

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java

@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.tables.ITable;
  */
 public class Accelerometer extends SensorBase implements PIDSource, ISensor, LiveWindowSendable {
 
-    private AnalogChannel m_analogChannel;
+    private AnalogInput m_analogChannel;
     private double m_voltsPerG = 1.0;
     private double m_zeroGVoltage = 2.5;
     private boolean m_allocatedChannel;
@@ -45,7 +45,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
      */
     public Accelerometer(final int channel) {
         m_allocatedChannel = true;
-        m_analogChannel = new AnalogChannel(channel);
+        m_analogChannel = new AnalogInput(channel);
         initAccelerometer();
     }
 
@@ -59,7 +59,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
      */
     public Accelerometer(final int slot, final int channel) {
         m_allocatedChannel = true;
-        m_analogChannel = new AnalogChannel(slot, channel);
+        m_analogChannel = new AnalogInput(slot, channel);
         initAccelerometer();
     }
 
@@ -70,7 +70,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv
      * the Accelerometer class.
      * @param channel an already initialized analog channel
      */
-    public Accelerometer(AnalogChannel channel) {
+    public Accelerometer(AnalogInput channel) {
         m_allocatedChannel = false;
         if (channel == null)
             throw new NullPointerException("Analog Channel given was null");

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java

@@ -26,10 +26,10 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
 
 /**
  * Analog channel class.
- * 
+ *
  * Each analog channel is read from hardware as a 12-bit number representing
  * -10V to 10V.
- * 
+ *
  * Connected to each analog channel is an averaging and oversampling engine.
  * This engine accumulates the specified ( by setAverageBits() and
  * setOversampleBits() ) number of samples before returning a new value. This is
@@ -39,12 +39,12 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
  * are divided by the number of samples to retain the resolution, but get more
  * stable values.
  */
-public class AnalogChannel extends SensorBase implements PIDSource,
+public class AnalogInput extends SensorBase implements PIDSource,
 		LiveWindowSendable {
 
 	private static final int kAccumulatorSlot = 1;
 	private static Resource channels = new Resource(kAnalogModules
-			* kAnalogChannels);
+			* kAnalogInputChannels);
 	private ByteBuffer m_port;
 	private int m_moduleNumber, m_channel;
 	private static final int[] kAccumulatorChannels = { 0, 1 };
@@ -52,39 +52,39 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Construct an analog channel on the default module.
-	 * 
+	 *
 	 * @param channel
 	 *            The channel number to represent.
 	 */
-	public AnalogChannel(final int channel) {
+	public AnalogInput(final int channel) {
 		this(getDefaultAnalogModule(), channel);
 	}
 
 	/**
 	 * Construct an analog channel on a specified module.
-	 * 
+	 *
 	 * @param moduleNumber
 	 *            The digital module to use (1 or 2).
 	 * @param channel
 	 *            The channel number to represent.
 	 */
-	public AnalogChannel(final int moduleNumber, final int channel) {
+	public AnalogInput(final int moduleNumber, final int channel) {
 		m_channel = channel;
 		m_moduleNumber = moduleNumber;
 		if (AnalogJNI.checkAnalogModule((byte)moduleNumber) == 0) {
-			throw new AllocationException("Analog channel " + m_channel
+			throw new AllocationException("Analog input channel " + m_channel
 					+ " on module " + m_moduleNumber
 					+ " cannot be allocated. Module is not present.");
 		}
 		if (AnalogJNI.checkAnalogInputChannel(channel) == 0) {
-			throw new AllocationException("Analog channel " + m_channel
+			throw new AllocationException("Analog input channel " + m_channel
 					+ " on module " + m_moduleNumber
 					+ " cannot be allocated. Channel is not present.");
 		}
 		try {
-			channels.allocate((moduleNumber - 1) * kAnalogChannels + channel);
+			channels.allocate((moduleNumber - 1) * kAnalogInputChannels + channel);
 		} catch (CheckedAllocationException e) {
-			throw new AllocationException("Analog channel " + m_channel
+			throw new AllocationException("Analog input channel " + m_channel
 					+ " on module " + m_moduleNumber + " is already allocated");
 		}
 
@@ -97,7 +97,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 		m_port = AnalogJNI.initializeAnalogInputPort(port_pointer, status.asIntBuffer());
 		HALUtil.checkStatus(status.asIntBuffer());
 
-		LiveWindow.addSensor("Analog", moduleNumber, channel, this);
+		LiveWindow.addSensor("AnalogInput", moduleNumber, channel, this);
 		UsageReporting.report(tResourceType.kResourceType_AnalogChannel,
 				channel, moduleNumber - 1);
 	}
@@ -106,7 +106,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Channel destructor.
 	 */
 	public void free() {
-		channels.free(((m_moduleNumber - 1) * kAnalogChannels + m_channel));
+		channels.free(((m_moduleNumber - 1) * kAnalogInputChannels + m_channel));
 		m_channel = 0;
 		m_moduleNumber = 0;
 		m_accumulatorOffset = 0;
@@ -114,7 +114,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Get the analog module that this channel is on.
-	 * 
+	 *
 	 * @return The AnalogModule that this channel is on.
 	 */
 	public AnalogModule getModule() {
@@ -126,7 +126,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * 12-bit value representing the -10V to 10V range of the A/D converter in
 	 * the module. The units are in A/D converter codes. Use GetVoltage() to get
 	 * the analog value in calibrated units.
-	 * 
+	 *
 	 * @return A sample straight from this channel on the module.
 	 */
 	public int getValue() {
@@ -146,7 +146,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * sliding window. The sample will not change until 2**(OversamplBits +
 	 * AverageBits) samples have been acquired from the module on this channel.
 	 * Use getAverageVoltage() to get the analog value in calibrated units.
-	 * 
+	 *
 	 * @return A sample from the oversample and average engine for this channel.
 	 */
 	public int getAverageValue() {
@@ -162,7 +162,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Get a scaled sample straight from this channel on the module. The value
 	 * is scaled to units of Volts using the calibrated scaling data from
 	 * getLSBWeight() and getOffset().
-	 * 
+	 *
 	 * @return A scaled sample straight from this channel on the module.
 	 */
 	public double getVoltage() {
@@ -181,7 +181,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * oversampling will cause this value to be higher resolution, but it will
 	 * update more slowly. Using averaging will cause this value to be more
 	 * stable, but it will update more slowly.
-	 * 
+	 *
 	 * @return A scaled sample from the output of the oversample and average
 	 *         engine for this channel.
 	 */
@@ -198,9 +198,9 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Get the factory scaling least significant bit weight constant. The least
 	 * significant bit weight constant for the channel that was calibrated in
 	 * manufacturing and stored in an eeprom in the module.
-	 * 
+	 *
 	 * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-	 * 
+	 *
 	 * @return Least significant bit weight.
 	 */
 	public long getLSBWeight() {
@@ -216,9 +216,9 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Get the factory scaling offset constant. The offset constant for the
 	 * channel that was calibrated in manufacturing and stored in an eeprom in
 	 * the module.
-	 * 
+	 *
 	 * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
-	 * 
+	 *
 	 * @return Offset constant.
 	 */
 	public int getOffset() {
@@ -232,7 +232,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Get the channel number.
-	 * 
+	 *
 	 * @return The channel number.
 	 */
 	public int getChannel() {
@@ -241,7 +241,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Gets the number of the analog module this channel is on.
-	 * 
+	 *
 	 * @return The module number of the analog module this channel is on.
 	 */
 	public int getModuleNumber() {
@@ -252,7 +252,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Set the number of averaging bits. This sets the number of averaging bits.
 	 * The actual number of averaged samples is 2**bits. The averaging is done
 	 * automatically in the FPGA.
-	 * 
+	 *
 	 * @param bits
 	 *            The number of averaging bits.
 	 */
@@ -268,7 +268,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Get the number of averaging bits. This gets the number of averaging bits
 	 * from the FPGA. The actual number of averaged samples is 2**bits. The
 	 * averaging is done automatically in the FPGA.
-	 * 
+	 *
 	 * @return The number of averaging bits.
 	 */
 	public int getAverageBits() {
@@ -284,7 +284,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Set the number of oversample bits. This sets the number of oversample
 	 * bits. The actual number of oversampled values is 2**bits. The
 	 * oversampling is done automatically in the FPGA.
-	 * 
+	 *
 	 * @param bits
 	 *            The number of oversample bits.
 	 */
@@ -300,7 +300,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	 * Get the number of oversample bits. This gets the number of oversample
 	 * bits from the FPGA. The actual number of oversampled values is 2**bits.
 	 * The oversampling is done automatically in the FPGA.
-	 * 
+	 *
 	 * @return The number of oversample bits.
 	 */
 	public int getOversampleBits() {
@@ -333,9 +333,9 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Set an inital value for the accumulator.
-	 * 
+	 *
 	 * This will be added to all values returned to the user.
-	 * 
+	 *
 	 * @param initialValue
 	 *            The value that the accumulator should start from when reset.
 	 */
@@ -356,12 +356,12 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Set the center value of the accumulator.
-	 * 
+	 *
 	 * The center value is subtracted from each A/D value before it is added to
 	 * the accumulator. This is used for the center value of devices like gyros
 	 * and accelerometers to make integration work and to take the device offset
 	 * into account when integrating.
-	 * 
+	 *
 	 * This center value is based on the output of the oversampled and averaged
 	 * source from channel 1. Because of this, any non-zero oversample bits will
 	 * affect the size of the value for this field.
@@ -387,10 +387,10 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Read the accumulated value.
-	 * 
+	 *
 	 * Read the value that has been accumulating on channel 1. The accumulator
 	 * is attached after the oversample and average engine.
-	 * 
+	 *
 	 * @return The 64-bit value accumulated since the last Reset().
 	 */
 	public long getAccumulatorValue() {
@@ -404,10 +404,10 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Read the number of accumulated values.
-	 * 
+	 *
 	 * Read the count of the accumulated values since the accumulator was last
 	 * Reset().
-	 * 
+	 *
 	 * @return The number of times samples from the channel were accumulated.
 	 */
 	public long getAccumulatorCount() {
@@ -422,10 +422,10 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 	/**
 	 * Read the accumulated value and the number of accumulated values
 	 * atomically.
-	 * 
+	 *
 	 * This function reads the value and count from the FPGA atomically. This
 	 * can be used for averaging.
-	 * 
+	 *
 	 * @param result
 	 *            AccumulatorResult object to store the results in.
 	 */
@@ -455,7 +455,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Is the channel attached to an accumulator.
-	 * 
+	 *
 	 * @return The analog channel is attached to an accumulator.
 	 */
 	public boolean isAccumulatorChannel() {
@@ -482,7 +482,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
 
 	/**
 	 * Get the average value for usee with PIDController
-	 * 
+	 *
 	 * @return the average value
 	 */
 	public double pidGet() {

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogModule.java

@@ -70,7 +70,7 @@ public class AnalogModule extends Module {
         super(tModuleType.kModuleType_Analog, moduleNumber);
 
         m_ports = new ByteBuffer[8];
-        for (int i = 0; i < SensorBase.kAnalogChannels; i++) {
+        for (int i = 0; i < SensorBase.kAnalogInputChannels; i++) {
             ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) moduleNumber, (byte) i);
             ByteBuffer status = ByteBuffer.allocateDirect(4);
     		// set the byte order

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java

@@ -0,0 +1,140 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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 java.nio.ByteOrder;
+import java.nio.IntBuffer;
+import java.nio.LongBuffer;
+import java.nio.ByteBuffer;
+
+//import com.sun.jna.Pointer;
+
+
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.AnalogJNI;
+import edu.wpi.first.wpilibj.hal.HALUtil;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.tables.ITable;
+import edu.wpi.first.wpilibj.util.AllocationException;
+import edu.wpi.first.wpilibj.util.CheckedAllocationException;
+
+/**
+ * Analog output class.
+ */
+public class AnalogOutput extends SensorBase implements LiveWindowSendable {
+    private static Resource channels = new Resource(kAnalogOutputChannels);
+    private ByteBuffer m_port;
+    private int m_channel;
+
+    /**
+     * Construct an analog output on a specified MXP channel.
+     *
+     * @param channel
+     *            The channel number to represent.
+     */
+    public AnalogOutput(final int channel) {
+        m_channel = channel;
+
+        if (AnalogJNI.checkAnalogOutputChannel(channel) == 0) {
+            throw new AllocationException("Analog output channel " + m_channel
+                    + " cannot be allocated. Channel is not present.");
+        }
+        try {
+            channels.allocate(channel);
+        } catch (CheckedAllocationException e) {
+            throw new AllocationException("Analog output channel " + m_channel
+                    + " is already allocated");
+        }
+
+        ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) 1, (byte) channel);
+        ByteBuffer status = ByteBuffer.allocateDirect(4);
+        // set the byte order
+        status.order(ByteOrder.LITTLE_ENDIAN);
+        m_port = AnalogJNI.initializeAnalogOutputPort(port_pointer, status.asIntBuffer());
+        HALUtil.checkStatus(status.asIntBuffer());
+
+        LiveWindow.addSensor("AnalogOutput", 1, channel, this);
+        UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel, 1);
+    }
+
+    /**
+     * Channel destructor.
+     */
+    public void free() {
+        channels.free(m_channel);
+        m_channel = 0;
+    }
+
+    public void setVoltage(double voltage) {
+        ByteBuffer status = ByteBuffer.allocateDirect(4);
+        status.order(ByteOrder.LITTLE_ENDIAN);
+
+        AnalogJNI.setAnalogOutput(m_port, voltage, status.asIntBuffer());
+
+        HALUtil.checkStatus(status.asIntBuffer());
+    }
+
+    public double getVoltage() {
+        ByteBuffer status = ByteBuffer.allocateDirect(4);
+        status.order(ByteOrder.LITTLE_ENDIAN);
+
+        double voltage = AnalogJNI.getAnalogOutput(m_port, status.asIntBuffer());
+
+        HALUtil.checkStatus(status.asIntBuffer());
+
+        return voltage;
+    }
+
+    /*
+     * Live Window code, only does anything if live window is activated.
+     */
+    public String getSmartDashboardType() {
+        return "Analog Output";
+    }
+
+    private ITable m_table;
+
+    /**
+     * {@inheritDoc}
+     */
+    public void initTable(ITable subtable) {
+        m_table = subtable;
+        updateTable();
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public void updateTable() {
+        if (m_table != null) {
+            m_table.putNumber("Value", getVoltage());
+        }
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public ITable getTable() {
+        return m_table;
+    }
+
+    /**
+     * Analog Channels don't have to do anything special when entering the
+     * LiveWindow. {@inheritDoc}
+     */
+    public void startLiveWindowMode() {
+    }
+
+    /**
+     * Analog Channels don't have to do anything special when exiting the
+     * LiveWindow. {@inheritDoc}
+     */
+    public void stopLiveWindowMode() {
+    }
+}

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java

@@ -106,7 +106,7 @@ public class AnalogTrigger implements IInputOutput {
 	 * @param channel
 	 *            the AnalogChannel to use for the analog trigger
 	 */
-	public AnalogTrigger(AnalogChannel channel) {
+	public AnalogTrigger(AnalogInput channel) {
 		initTrigger(channel.getModuleNumber(), channel.getChannel());
 	}
 

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -86,7 +86,7 @@ public class DriverStation implements IInputOutput {
 
     private static DriverStation instance = new DriverStation();
     private FRCCommonControlData m_controlData;
-    private AnalogChannel m_batteryChannel;
+    private AnalogInput m_batteryChannel;
     private Thread m_thread;
     private final Object m_semaphore;
     private final Object m_dataSem;

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java

@@ -31,7 +31,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 	static final double kSamplesPerSecond = 50.0;
 	static final double kCalibrationSampleTime = 5.0;
 	static final double kDefaultVoltsPerDegreePerSecond = 0.007;
-	AnalogChannel m_analog;
+	AnalogInput m_analog;
 	double m_voltsPerDegreePerSecond;
 	double m_offset;
 	int m_center;
@@ -94,7 +94,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 	 *            The analog channel the gyro is connected to.
 	 */
 	public Gyro(int slot, int channel) {
-		m_analog = new AnalogChannel(slot, channel);
+		m_analog = new AnalogInput(slot, channel);
 		m_channelAllocated = true;
 		initGyro();
 	}
@@ -108,7 +108,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 	 *            The analog channel the gyro is connected to.
 	 */
 	public Gyro(int channel) {
-		m_analog = new AnalogChannel(channel);
+		m_analog = new AnalogInput(channel);
 		m_channelAllocated = true;
 		initGyro();
 	}
@@ -121,7 +121,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor,
 	 * @param channel
 	 *            The AnalogChannel object that the gyro is connected to.
 	 */
-	public Gyro(AnalogChannel channel) {
+	public Gyro(AnalogInput channel) {
 		m_analog = channel;
 		if (m_analog == null) {
 			System.err

wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java

@@ -14,13 +14,13 @@ import edu.wpi.first.wpilibj.hal.AnalogJNI;
  * Base class for all sensors.
  * Stores most recent status information as well as containing utility functions for checking
  * channels and error processing.
- * 
+ *
  * XXX: Wait, there's no exception thrown if we try to allocate a non-existent module?  It that behavior correct?
  */
 public abstract class SensorBase { // TODO: Refactor
 
 	// TODO: Move this to the HAL
-	
+
     /**
      * Ticks per microsecond
      */
@@ -35,9 +35,13 @@ public abstract class SensorBase { // TODO: Refactor
      */
     public static final int kDigitalModules = 1;
     /**
-     * Number of analog channels per module
+     * Number of analog input channels per module
      */
-    public static final int kAnalogChannels = 4;
+    public static final int kAnalogInputChannels = 8;
+    /**
+     * Number of analog output channels per module
+     */
+    public static final int kAnalogOutputChannels = 2;
     /**
      * Number of analog modules
      */
@@ -206,14 +210,27 @@ public abstract class SensorBase { // TODO: Refactor
     }
 
     /**
-     * Check that the analog channel number is value.
-     * Verify that the analog channel number is one of the legal channel numbers. Channel numbers
-     * are 1-based.
+     * Check that the analog input number is value.
+     * Verify that the analog input number is one of the legal channel numbers. Channel numbers
+     * are 0-based.
      *
      * @param channel The channel number to check.
      */
-    protected static void checkAnalogChannel(final int channel) {
-        if (channel <= 0 || channel > kAnalogChannels) {
+    protected static void checkAnalogInputChannel(final int channel) {
+        if (channel <= 0 || channel > kAnalogInputChannels) {
+            System.err.println("Requested analog channel number is out of range.");
+        }
+    }
+
+    /**
+     * Check that the analog input number is value.
+     * Verify that the analog input number is one of the legal channel numbers. Channel numbers
+     * are 0-based.
+     *
+     * @param channel The channel number to check.
+     */
+    protected static void checkAnalogOutputChannel(final int channel) {
+        if (channel <= 0 || channel > kAnalogOutputChannels) {
             System.err.println("Requested analog channel number is out of range.");
         }
     }
@@ -231,7 +248,7 @@ public abstract class SensorBase { // TODO: Refactor
     }
 
     /**
-     * Verify that the power distribution channel number is within limits. 
+     * Verify that the power distribution channel number is within limits.
      * Channel numbers are 1-based.
      *
      * @param channel The channel number to check.