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Switch to 0-based for all pins on the RoboRIO [artf2564]

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Change-Id: I249965a9d55aec53b7d8a9be3ba5cc43500ddda4
This commit is contained in:
thomasclark
2014-06-10 12:33:59 -04:00
parent 59dfb4d216
commit 35ac240d4c
20 changed files with 149 additions and 150 deletions
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28
hal/lib/Athena/Analog.cpp
View File

@@ -17,7 +17,7 @@ static const float kDefaultSampleRate = 50000.0;
static const uint32_t kAnalogPins = 8;
static const uint32_t kAccumulatorNumChannels = 2;
static const uint32_t kAccumulatorChannels[] = {1, 2};
static const uint32_t kAccumulatorChannels[] = {0, 1};
struct AnalogPort {
Port port;
@@ -59,11 +59,11 @@ void* initializeAnalogPort(void* port_pointer, int32_t *status) {
AnalogPort* analog_port = new AnalogPort();
analog_port->port = *port;
if (isAccumulatorChannel(analog_port, status)) {
analog_port->accumulator = tAccumulator::create(port->pin - 1, status);
analog_port->accumulator = tAccumulator::create(port->pin, status);
} else analog_port->accumulator = NULL;
// Set default configuration
analogSystem->writeScanList(port->pin - 1, port->pin - 1, status);
analogSystem->writeScanList(port->pin, port->pin, status);
setAnalogAverageBits(analog_port, kDefaultAverageBits, status);
setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status);
return analog_port;
@@ -82,12 +82,12 @@ bool checkAnalogModule(uint8_t module) {
/**
* 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.
* are 0-based.
*
* @return Analog channel is valid
*/
bool checkAnalogChannel(uint32_t pin) {
if (pin > 0 && pin <= kAnalogPins)
if (pin >= 0 && pin < kAnalogPins)
return true;
return false;
}
@@ -184,7 +184,7 @@ float getAnalogSampleRateWithModule(uint8_t module, int32_t *status) {
*/
void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
analogSystem->writeAverageBits(port->port.pin - 1, bits, status);
analogSystem->writeAverageBits(port->port.pin, bits, status);
}
/**
@@ -198,7 +198,7 @@ void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *sta
*/
uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
uint32_t result = analogSystem->readAverageBits(port->port.pin - 1, status);
uint32_t result = analogSystem->readAverageBits(port->port.pin, status);
return result;
}
@@ -214,7 +214,7 @@ uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status) {
*/
void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
analogSystem->writeOversampleBits(port->port.pin - 1, bits, status);
analogSystem->writeOversampleBits(port->port.pin, bits, status);
}
@@ -229,7 +229,7 @@ void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *
*/
uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
uint32_t result = analogSystem->readOversampleBits(port->port.pin - 1, status);
uint32_t result = analogSystem->readOversampleBits(port->port.pin, status);
return result;
}
@@ -248,7 +248,7 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
checkAnalogChannel(port->port.pin);
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin - 1;
readSelect.Channel = port->port.pin;
readSelect.Averaged = false;
{
@@ -279,7 +279,7 @@ int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
checkAnalogChannel(port->port.pin);
tAI::tReadSelect readSelect;
readSelect.Channel = port->port.pin - 1;
readSelect.Channel = port->port.pin;
readSelect.Averaged = true;
{
@@ -366,7 +366,7 @@ int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage, int32_t
*/
uint32_t getAnalogLSBWeight(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
uint32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(0, port->port.pin - 1, status); // XXX: aiSystemIndex == 0?
uint32_t lsbWeight = FRC_NetworkCommunication_nAICalibration_getLSBWeight(0, port->port.pin, status); // XXX: aiSystemIndex == 0?
return lsbWeight;
}
@@ -382,7 +382,7 @@ uint32_t getAnalogLSBWeight(void* analog_port_pointer, int32_t *status) {
*/
int32_t getAnalogOffset(void* analog_port_pointer, int32_t *status) {
AnalogPort* port = (AnalogPort*) analog_port_pointer;
int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset(0, port->port.pin - 1, status); // XXX: aiSystemIndex == 0?
int32_t offset = FRC_NetworkCommunication_nAICalibration_getOffset(0, port->port.pin, status); // XXX: aiSystemIndex == 0?
return offset;
}
@@ -574,7 +574,7 @@ void* initializeAnalogTrigger(void* port_pointer, uint32_t *index, int32_t *stat
// TODO: if (index == ~0ul) { CloneError(triggers); return; }
trigger->trigger = tAnalogTrigger::create(trigger->index, status);
trigger->trigger->writeSourceSelect_Channel(port->pin - 1, status);
trigger->trigger->writeSourceSelect_Channel(port->pin, status);
return trigger;
}

54
hal/lib/Athena/Digital.cpp
View File

@@ -107,7 +107,7 @@ void initializeDigital(int32_t *status) {
pwmSystem->writeConfig_MinHigh(minHigh, status);
// printf("MinHigh: %d\n", minHigh);
// Ensure that PWM output values are set to OFF
for (uint32_t pwm_index = 1; pwm_index <= kPwmPins; pwm_index++) {
for (uint32_t pwm_index = 0; pwm_index < kPwmPins; pwm_index++) {
// Initialize port structure
DigitalPort* digital_port = new DigitalPort();
digital_port->port.pin = pwm_index;
@@ -146,12 +146,12 @@ bool checkDigitalModule(uint8_t module) {
bool checkPWMChannel(void* digital_port_pointer) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
return (port->port.pin > 0 && port->port.pin <= kPwmPins);
return (port->port.pin >= 0 && port->port.pin < kPwmPins);
}
bool checkRelayChannel(void* digital_port_pointer) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
return (port->port.pin > 0 && port->port.pin <= kRelayPins);
return (port->port.pin >= 0 && port->port.pin < kRelayPins);
}
uint8_t remapDigitalChannel(uint32_t pin, int32_t *status) {
@@ -173,7 +173,7 @@ void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
// printf("Value:%d\n", value);
pwmSystem->writeHdr(port->port.pin - 1, value, status); // XXX: Support MXP
pwmSystem->writeHdr(port->port.pin, value, status); // XXX: Support MXP
}
/**
@@ -185,7 +185,7 @@ void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status) {
unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
return pwmSystem->readHdr(port->port.pin - 1, status); // XXX: Support MXP
return pwmSystem->readHdr(port->port.pin, status); // XXX: Support MXP
}
/**
@@ -197,7 +197,7 @@ unsigned short getPWM(void* digital_port_pointer, int32_t *status) {
void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
checkPWMChannel(port);
pwmSystem->writePeriodScaleHdr(port->port.pin - 1, squelchMask, status); // XXX: Support MXP
pwmSystem->writePeriodScaleHdr(port->port.pin, squelchMask, status); // XXX: Support MXP
}
/**
@@ -325,22 +325,22 @@ void setPWMOutputChannelWithModule(uint8_t module, void* pwmGenerator, uint32_t
if (id == ~0ul) return;
switch(id) {
case 0:
digitalSystem->writePWMOutputSelect(0, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(0, remapDigitalChannel(pin, status), status);
break;
case 1:
digitalSystem->writePWMOutputSelect(1, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(1, remapDigitalChannel(pin, status), status);
break;
case 2:
digitalSystem->writePWMOutputSelect(2, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(2, remapDigitalChannel(pin, status), status);
break;
case 3:
digitalSystem->writePWMOutputSelect(3, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(3, remapDigitalChannel(pin, status), status);
break;
case 4:
digitalSystem->writePWMOutputSelect(4, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(4, remapDigitalChannel(pin, status), status);
break;
case 5:
digitalSystem->writePWMOutputSelect(5, remapDigitalChannel(pin - 1, status), status);
digitalSystem->writePWMOutputSelect(5, remapDigitalChannel(pin, status), status);
break;
}
}
@@ -357,9 +357,9 @@ void setRelayForward(void* digital_port_pointer, bool on, int32_t *status) {
Synchronized sync(digitalRelaySemaphore);
uint8_t forwardRelays = relaySystem->readValue_Forward(status);
if (on)
forwardRelays |= 1 << (port->port.pin - 1);
forwardRelays |= 1 << port->port.pin;
else
forwardRelays &= ~(1 << (port->port.pin - 1));
forwardRelays &= ~(1 << port->port.pin);
relaySystem->writeValue_Forward(forwardRelays, status);
}
}
@@ -376,9 +376,9 @@ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
Synchronized sync(digitalRelaySemaphore);
uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
if (on)
reverseRelays |= 1 << (port->port.pin - 1);
reverseRelays |= 1 << port->port.pin;
else
reverseRelays &= ~(1 << (port->port.pin - 1));
reverseRelays &= ~(1 << port->port.pin);
relaySystem->writeValue_Reverse(reverseRelays, status);
}
}
@@ -389,7 +389,7 @@ void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status) {
bool getRelayForward(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
uint8_t forwardRelays = relaySystem->readValue_Forward(status);
return (forwardRelays & (1 << (port->port.pin - 1))) != 0;
return (forwardRelays & (1 << port->port.pin)) != 0;
}
/**
@@ -398,7 +398,7 @@ bool getRelayForward(void* digital_port_pointer, int32_t *status) {
bool getRelayReverse(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
uint8_t reverseRelays = relaySystem->readValue_Reverse(status);
return (reverseRelays & (1 << (port->port.pin - 1))) != 0;
return (reverseRelays & (1 << port->port.pin)) != 0;
}
/**
@@ -414,10 +414,10 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
char buf[64];
snprintf(buf, 64, "DIO %d (Module %d)", port->port.pin, port->port.module);
if (DIOChannels->Allocate(kDigitalPins * (port->port.module - 1) + port->port.pin - 1, buf) == ~0ul) return false;
if (DIOChannels->Allocate(kDigitalPins * (port->port.module - 1) + port->port.pin, buf) == ~0ul) return false;
{
Synchronized sync(digitalDIOSemaphore);
uint32_t bitToSet = 1 << (remapDigitalChannel(port->port.pin - 1, status));
uint32_t bitToSet = 1 << (remapDigitalChannel(port->port.pin, status));
tDIO::tOutputEnable outputEnable = digitalSystem->readOutputEnable(status);
if (input) {
outputEnable.Headers = outputEnable.Headers & (~bitToSet); // clear the bit for read
@@ -436,7 +436,7 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
*/
void freeDIO(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
DIOChannels->Free(kDigitalPins * (port->port.module - 1) + port->port.pin - 1);
DIOChannels->Free(kDigitalPins * (port->port.module - 1) + port->port.pin);
}
/**
@@ -456,9 +456,9 @@ void setDIO(void* digital_port_pointer, short value, int32_t *status) {
Synchronized sync(digitalDIOSemaphore);
tDIO::tDO currentDIO = digitalSystem->readDO(status);
if(value == 0) {
currentDIO.Headers = currentDIO.Headers & ~(1 << remapDigitalChannel(port->port.pin - 1, status));
currentDIO.Headers = currentDIO.Headers & ~(1 << remapDigitalChannel(port->port.pin, status));
} else if (value == 1) {
currentDIO.Headers = currentDIO.Headers | (1 << remapDigitalChannel(port->port.pin - 1, status));
currentDIO.Headers = currentDIO.Headers | (1 << remapDigitalChannel(port->port.pin, status));
}
digitalSystem->writeDO(currentDIO, status);
}
@@ -479,7 +479,7 @@ bool getDIO(void* digital_port_pointer, int32_t *status) {
//if it == 0, then return false
//else return true
return ((currentDIO.Headers >> remapDigitalChannel(port->port.pin - 1, status)) & 1) != 0;
return ((currentDIO.Headers >> remapDigitalChannel(port->port.pin, status)) & 1) != 0;
}
/**
@@ -497,7 +497,7 @@ bool getDIODirection(void* digital_port_pointer, int32_t *status) {
//AND it against the currentOutputEnable
//if it == 0, then return false
//else return true
return ((currentOutputEnable.Headers >> remapDigitalChannel(port->port.pin - 1, status)) & 1) != 0;
return ((currentOutputEnable.Headers >> remapDigitalChannel(port->port.pin, status)) & 1) != 0;
}
/**
@@ -510,7 +510,7 @@ bool getDIODirection(void* digital_port_pointer, int32_t *status) {
void pulse(void* digital_port_pointer, double pulseLength, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
tDIO::tPulse pulse;
pulse.Headers = 1 << remapDigitalChannel(port->port.pin - 1, status);
pulse.Headers = 1 << remapDigitalChannel(port->port.pin, status);
digitalSystem->writePulseLength((uint8_t)(1.0e9 * pulseLength / (pwmSystem->readLoopTiming(status) * 25)), status);
digitalSystem->writePulse(pulse, status);
}
@@ -522,7 +522,7 @@ void pulse(void* digital_port_pointer, double pulseLength, int32_t *status) {
*/
bool isPulsing(void* digital_port_pointer, int32_t *status) {
DigitalPort* port = (DigitalPort*) digital_port_pointer;
uint16_t mask = 1 << remapDigitalChannel(port->port.pin - 1, status);
uint16_t mask = 1 << remapDigitalChannel(port->port.pin, status);
tDIO::tPulse pulseRegister = digitalSystem->readPulse(status);
return (pulseRegister.Headers & mask) != 0;
}

2
wpilibc/wpilibC++/include/DriverStation.h
View File

@@ -30,7 +30,7 @@ public:
static DriverStation *GetInstance();
static const uint32_t kBatteryModuleNumber = 1;
static const uint32_t kBatteryChannel = 8;
static const uint32_t kBatteryChannel = 7;
static const uint32_t kJoystickPorts = 4;
static const uint32_t kJoystickAxes = 6;

6
wpilibc/wpilibC++/lib/AnalogChannel.cpp
View File

@@ -15,7 +15,7 @@ static Resource *channels = NULL;
const uint8_t AnalogChannel::kAccumulatorModuleNumber;
const uint32_t AnalogChannel::kAccumulatorNumChannels;
const uint32_t AnalogChannel::kAccumulatorChannels[] = {1, 2};
const uint32_t AnalogChannel::kAccumulatorChannels[] = {0, 1};
/**
* Common initialization.
@@ -39,7 +39,7 @@ void AnalogChannel::InitChannel(uint8_t moduleNumber, uint32_t channel)
}
snprintf(buf, 64, "Analog Input %d (Module: %d)", channel, moduleNumber);
if (channels->Allocate((moduleNumber - 1) * kAnalogChannels + channel - 1, buf) == ~0ul)
if (channels->Allocate((moduleNumber - 1) * kAnalogChannels + channel, buf) == ~0ul)
{
CloneError(channels);
return;
@@ -82,7 +82,7 @@ AnalogChannel::AnalogChannel(uint32_t channel)
*/
AnalogChannel::~AnalogChannel()
{
channels->Free((m_module - 1) * kAnalogChannels + m_channel - 1);
channels->Free((m_module - 1) * kAnalogChannels + m_channel);
}
/**

2
wpilibc/wpilibC++/lib/AnalogModule.cpp
View File

@@ -55,7 +55,7 @@ AnalogModule::AnalogModule(uint8_t moduleNumber)
{
for (uint32_t i = 0; i < kAnalogChannels; i++)
{
void* port = getPortWithModule(moduleNumber, i+1);
void* port = getPortWithModule(moduleNumber, i);
int32_t status = 0;
m_ports[i] = initializeAnalogPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));

2
wpilibc/wpilibC++/lib/DigitalInput.cpp
View File

@@ -105,7 +105,7 @@ uint32_t DigitalInput::GetChannel()
*/
uint32_t DigitalInput::GetChannelForRouting()
{
return GetChannel() - 1;
return GetChannel();
}
/**

42
wpilibc/wpilibC++/lib/DigitalModule.cpp
View File

@@ -50,21 +50,21 @@ DigitalModule::DigitalModule(uint8_t moduleNumber)
m_module = moduleNumber;
for (uint32_t i = 0; i < kDigitalChannels; i++)
{
void* port = getPortWithModule(moduleNumber, i+1);
void* port = getPortWithModule(moduleNumber, i);
int32_t status = 0;
m_digital_ports[i] = initializeDigitalPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
for (uint32_t i = 0; i < kRelayChannels; i++)
{
void* port = getPortWithModule(moduleNumber, i+1);
void* port = getPortWithModule(moduleNumber, i);
int32_t status = 0;
m_relay_ports[i] = initializeDigitalPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
for (uint32_t i = 0; i < kPwmChannels; i++)
{
void* port = getPortWithModule(moduleNumber, i+1);
void* port = getPortWithModule(moduleNumber, i);
int32_t status = 0;
m_pwm_ports[i] = initializeDigitalPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -86,7 +86,7 @@ DigitalModule::~DigitalModule()
void DigitalModule::SetPWM(uint32_t channel, unsigned short value)
{
int32_t status = 0;
setPWM(m_pwm_ports[channel-1], value, &status);
setPWM(m_pwm_ports[channel], value, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -99,7 +99,7 @@ void DigitalModule::SetPWM(uint32_t channel, unsigned short value)
unsigned short DigitalModule::GetPWM(uint32_t channel)
{
int32_t status = 0;
uint16_t value = getPWM(m_pwm_ports[channel-1], &status);
uint16_t value = getPWM(m_pwm_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
@@ -113,7 +113,7 @@ unsigned short DigitalModule::GetPWM(uint32_t channel)
void DigitalModule::SetPWMPeriodScale(uint32_t channel, uint32_t squelchMask)
{
int32_t status = 0;
setPWMPeriodScale(m_pwm_ports[channel-1], squelchMask, &status);
setPWMPeriodScale(m_pwm_ports[channel], squelchMask, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -125,7 +125,7 @@ void DigitalModule::SetPWMPeriodScale(uint32_t channel, uint32_t squelchMask)
void DigitalModule::SetRelayForward(uint32_t channel, bool on)
{
int32_t status = 0;
setRelayForward(m_relay_ports[channel-1], on, &status);
setRelayForward(m_relay_ports[channel], on, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -137,7 +137,7 @@ void DigitalModule::SetRelayForward(uint32_t channel, bool on)
void DigitalModule::SetRelayReverse(uint32_t channel, bool on)
{
int32_t status = 0;
setRelayReverse(m_relay_ports[channel-1], on, &status);
setRelayReverse(m_relay_ports[channel], on, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -147,7 +147,7 @@ void DigitalModule::SetRelayReverse(uint32_t channel, bool on)
bool DigitalModule::GetRelayForward(uint32_t channel)
{
int32_t status = 0;
bool on = getRelayForward(m_relay_ports[channel-1], &status);
bool on = getRelayForward(m_relay_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return on;
}
@@ -159,7 +159,7 @@ uint8_t DigitalModule::GetRelayForward()
{
uint8_t value = 0;
for (unsigned int i = 0; i < kRelayChannels; i++) {
value |= GetRelayForward(i+1) << i;
value |= GetRelayForward(i) << i;
}
return value;
}
@@ -170,7 +170,7 @@ uint8_t DigitalModule::GetRelayForward()
bool DigitalModule::GetRelayReverse(uint32_t channel)
{
int32_t status = 0;
bool on = getRelayReverse(m_relay_ports[channel-1], &status);
bool on = getRelayReverse(m_relay_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return on;
}
@@ -182,7 +182,7 @@ uint8_t DigitalModule::GetRelayReverse()
{
uint8_t value = 0;
for (unsigned int i = 0; i < kRelayChannels; i++) {
value |= GetRelayReverse(i+1) << i;
value |= GetRelayReverse(i) << i;
}
return value;
}
@@ -200,7 +200,7 @@ uint8_t DigitalModule::GetRelayReverse()
bool DigitalModule::AllocateDIO(uint32_t channel, bool input)
{
int32_t status = 0;
bool allocated = allocateDIO(m_digital_ports[channel-1], input, &status);
bool allocated = allocateDIO(m_digital_ports[channel], input, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return allocated;
}
@@ -213,7 +213,7 @@ bool DigitalModule::AllocateDIO(uint32_t channel, bool input)
void DigitalModule::FreeDIO(uint32_t channel)
{
int32_t status = 0;
freeDIO(m_digital_ports[channel-1], &status);
freeDIO(m_digital_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -227,7 +227,7 @@ void DigitalModule::FreeDIO(uint32_t channel)
void DigitalModule::SetDIO(uint32_t channel, short value)
{
int32_t status = 0;
setDIO(m_digital_ports[channel-1], value, &status);
setDIO(m_digital_ports[channel], value, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -241,7 +241,7 @@ void DigitalModule::SetDIO(uint32_t channel, short value)
bool DigitalModule::GetDIO(uint32_t channel)
{
int32_t status = 0;
bool value = getDIO(m_digital_ports[channel-1], &status);
bool value = getDIO(m_digital_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
@@ -254,7 +254,7 @@ uint16_t DigitalModule::GetDIO()
{
uint16_t value = 0;
for (unsigned int i = 0; i < kDigitalChannels; i++) {
value |= GetDIO(i+1) << i;
value |= GetDIO(i) << i;
}
return value;
}
@@ -269,7 +269,7 @@ uint16_t DigitalModule::GetDIO()
bool DigitalModule::GetDIODirection(uint32_t channel)
{
int32_t status = 0;
bool value = getDIODirection(m_digital_ports[channel-1], &status);
bool value = getDIODirection(m_digital_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
@@ -283,7 +283,7 @@ uint16_t DigitalModule::GetDIODirection()
{
uint16_t value = 0;
for (unsigned int i = 0; i < kDigitalChannels; i++) {
value |= GetDIODirection(i+1) << i;
value |= GetDIODirection(i) << i;
}
return value;
}
@@ -298,7 +298,7 @@ uint16_t DigitalModule::GetDIODirection()
void DigitalModule::Pulse(uint32_t channel, float pulseLength)
{
int32_t status = 0;
pulse(m_digital_ports[channel-1], pulseLength, &status);
pulse(m_digital_ports[channel], pulseLength, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
@@ -310,7 +310,7 @@ void DigitalModule::Pulse(uint32_t channel, float pulseLength)
bool DigitalModule::IsPulsing(uint32_t channel)
{
int32_t status = 0;
bool value = isPulsing(m_digital_ports[channel-1], &status);
bool value = isPulsing(m_digital_ports[channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}

4
wpilibc/wpilibC++/lib/PWM.cpp
View File

@@ -44,7 +44,7 @@ void PWM::InitPWM(uint8_t moduleNumber, uint32_t channel)
}
snprintf(buf, 64, "PWM %d (Module: %d)", channel, moduleNumber);
if (allocated->Allocate((moduleNumber - 1) * kPwmChannels + channel - 1, buf) == ~0ul)
if (allocated->Allocate((moduleNumber - 1) * kPwmChannels + channel, buf) == ~0ul)
{
CloneError(allocated);
return;
@@ -94,7 +94,7 @@ PWM::~PWM()
if (m_module)
{
m_module->SetPWM(m_channel, kPwmDisabled);
allocated->Free((m_module->GetNumber() - 1) * kPwmChannels + m_channel - 1);
allocated->Free((m_module->GetNumber() - 1) * kPwmChannels + m_channel);
}
}

8
wpilibc/wpilibC++/lib/Relay.cpp
View File

@@ -44,7 +44,7 @@ void Relay::InitRelay (uint8_t moduleNumber)
if (m_direction == kBothDirections || m_direction == kForwardOnly)
{
snprintf(buf, 64, "Forward Relay %d (Module: %d)", m_channel, moduleNumber);
if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel - 1) * 2, buf) == ~0ul)
if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel) * 2, buf) == ~0ul)
{
CloneError(relayChannels);
return;
@@ -55,7 +55,7 @@ void Relay::InitRelay (uint8_t moduleNumber)
if (m_direction == kBothDirections || m_direction == kReverseOnly)
{
snprintf(buf, 64, "Reverse Relay %d (Module: %d)", m_channel, moduleNumber);
if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel - 1) * 2 + 1, buf) == ~0ul)
if (relayChannels->Allocate(((moduleNumber - 1) * kRelayChannels + m_channel) * 2 + 1, buf) == ~0ul)
{
CloneError(relayChannels);
return;
@@ -106,11 +106,11 @@ Relay::~Relay()
if (m_direction == kBothDirections || m_direction == kForwardOnly)
{
relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel - 1) * 2);
relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel) * 2);
}
if (m_direction == kBothDirections || m_direction == kReverseOnly)
{
relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel - 1) * 2 + 1);
relayChannels->Free(((m_module->GetNumber() - 1) * kRelayChannels + m_channel) * 2 + 1);
}
}

8
wpilibc/wpilibC++/lib/SensorBase.cpp
View File

@@ -131,7 +131,7 @@ bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber)
*/
bool SensorBase::CheckDigitalChannel(uint32_t channel)
{
if (channel > 0 && channel <= kDigitalChannels)
if (channel >= 0 && channel < kDigitalChannels)
return true;
return false;
}
@@ -145,7 +145,7 @@ bool SensorBase::CheckDigitalChannel(uint32_t channel)
*/
bool SensorBase::CheckRelayChannel(uint32_t channel)
{
if (channel > 0 && channel <= kRelayChannels)
if (channel >= 0 && channel < kRelayChannels)
return true;
return false;
}
@@ -159,7 +159,7 @@ bool SensorBase::CheckRelayChannel(uint32_t channel)
*/
bool SensorBase::CheckPWMChannel(uint32_t channel)
{
if (channel > 0 && channel <= kPwmChannels)
if (channel >= 0 && channel < kPwmChannels)
return true;
return false;
}
@@ -173,7 +173,7 @@ bool SensorBase::CheckPWMChannel(uint32_t channel)
*/
bool SensorBase::CheckAnalogChannel(uint32_t channel)
{
if (channel > 0 && channel <= kAnalogChannels)
if (channel >= 0 && channel < kAnalogChannels)
return true;
return false;
}

32
wpilibc/wpilibC++IntegrationTests/include/TestBench.h
View File

@@ -12,25 +12,25 @@
class TestBench {
public:
/* Analog channels */
static const int kCameraGyroChannel = 1;
static const uint32_t kCameraGyroChannel = 0;
/* DIO channels */
static const int kTalonEncoderChannelA = 1;
static const int kTalonEncoderChannelB = 2;
static const int kVictorEncoderChannelA = 3;
static const int kVictorEncoderChannelB = 4;
static const int kJaguarEncoderChannelA = 5;
static const int kJaguarEncoderChannelB = 6;
static const int kLoop1OutputChannel = 7;
static const int kLoop1InputChannel = 8;
static const int kLoop2OutputChannel = 9;
static const int kLoop2InputChannel = 10;
static const uint32_t kTalonEncoderChannelA = 0;
static const uint32_t kTalonEncoderChannelB = 1;
static const uint32_t kVictorEncoderChannelA = 2;
static const uint32_t kVictorEncoderChannelB = 3;
static const uint32_t kJaguarEncoderChannelA = 4;
static const uint32_t kJaguarEncoderChannelB = 5;
static const uint32_t kLoop1OutputChannel = 6;
static const uint32_t kLoop1InputChannel = 7;
static const uint32_t kLoop2OutputChannel = 8;
static const uint32_t kLoop2InputChannel = 9;
/* PWM channels */
static const int kTalonChannel = 1;
static const int kVictorChannel = 2;
static const int kJaguarChannel = 3;
static const int kCameraPanChannel = 9;
static const int kCameraTiltChannel = 10;
static const uint32_t kTalonChannel = 0;
static const uint32_t kVictorChannel = 1;
static const uint32_t kJaguarChannel = 2;
static const uint32_t kCameraPanChannel = 8;
static const uint32_t kCameraTiltChannel = 9;
};

7
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java
View File

@@ -47,7 +47,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
* kAnalogChannels);
private ByteBuffer m_port;
private int m_moduleNumber, m_channel;
private static final int[] kAccumulatorChannels = { 1, 2 };
private static final int[] kAccumulatorChannels = { 0, 1 };
private long m_accumulatorOffset;
/**
@@ -82,8 +82,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
+ " cannot be allocated. Channel is not present.");
}
try {
channels.allocate((moduleNumber - 1) * kAnalogChannels + channel
- 1);
channels.allocate((moduleNumber - 1) * kAnalogChannels + channel);
} catch (CheckedAllocationException e) {
throw new AllocationException("Analog channel " + m_channel
+ " on module " + m_moduleNumber + " is already allocated");
@@ -107,7 +106,7 @@ public class AnalogChannel extends SensorBase implements PIDSource,
* Channel destructor.
*/
public void free() {
channels.free(((m_moduleNumber - 1) * kAnalogChannels + m_channel - 1));
channels.free(((m_moduleNumber - 1) * kAnalogChannels + m_channel));
m_channel = 0;
m_moduleNumber = 0;
m_accumulatorOffset = 0;

2
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogModule.java
View File

@@ -71,7 +71,7 @@ public class AnalogModule extends Module {
m_ports = new ByteBuffer[8];
for (int i = 0; i < SensorBase.kAnalogChannels; i++) {
ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) moduleNumber, (byte) (i+1));
ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) moduleNumber, (byte) i);
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);

36
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalModule.java
View File

@@ -65,7 +65,7 @@ public class DigitalModule extends Module {
m_digital_ports = new ByteBuffer[SensorBase.kDigitalChannels];
for (int i = 0; i < SensorBase.kDigitalChannels; i++) {
ByteBuffer port_pointer = DIOJNI.getPortWithModule(
(byte) moduleNumber, (byte) (i + 1));
(byte) moduleNumber, (byte) i);
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -77,7 +77,7 @@ public class DigitalModule extends Module {
m_relay_ports = new ByteBuffer[SensorBase.kRelayChannels];
for (int i = 0; i < SensorBase.kRelayChannels; i++) {
ByteBuffer port_pointer = RelayJNI.getPortWithModule(
(byte) moduleNumber, (byte) (i + 1));
(byte) moduleNumber, (byte) i);
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -88,7 +88,7 @@ public class DigitalModule extends Module {
m_pwm_ports = new ByteBuffer[SensorBase.kPwmChannels];
for (int i = 0; i < SensorBase.kPwmChannels; i++) {
ByteBuffer port_pointer = PWMJNI.getPortWithModule(
(byte) moduleNumber, (byte) (i + 1));
(byte) moduleNumber, (byte) i);
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -112,7 +112,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
PWMJNI.setPWM(m_pwm_ports[channel - 1], (short) value, status.asIntBuffer());
PWMJNI.setPWM(m_pwm_ports[channel], (short) value, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@@ -127,7 +127,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
int value = (int) PWMJNI.getPWM(m_pwm_ports[channel - 1], status.asIntBuffer());
int value = (int) PWMJNI.getPWM(m_pwm_ports[channel], status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
return value;
}
@@ -144,7 +144,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
PWMJNI.setPWMPeriodScale(m_pwm_ports[channel - 1], squelchMask,
PWMJNI.setPWMPeriodScale(m_pwm_ports[channel], squelchMask,
status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@@ -162,7 +162,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
RelayJNI.setRelayForward(m_relay_ports[channel - 1], (byte) (on ? 1
RelayJNI.setRelayForward(m_relay_ports[channel], (byte) (on ? 1
: 0), status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@@ -180,7 +180,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
RelayJNI.setRelayReverse(m_relay_ports[channel - 1], (byte) (on ? 1
RelayJNI.setRelayReverse(m_relay_ports[channel], (byte) (on ? 1
: 0), status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@@ -196,7 +196,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
boolean value = RelayJNI.getRelayForward(m_relay_ports[channel - 1],
boolean value = RelayJNI.getRelayForward(m_relay_ports[channel],
status.asIntBuffer()) != 0;
HALUtil.checkStatus(status.asIntBuffer());
return value;
@@ -231,7 +231,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
boolean value = RelayJNI.getRelayReverse(m_relay_ports[channel - 1],
boolean value = RelayJNI.getRelayReverse(m_relay_ports[channel],
status.asIntBuffer()) != 0;
HALUtil.checkStatus(status.asIntBuffer());
return value;
@@ -272,7 +272,7 @@ public class DigitalModule extends Module {
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
boolean allocated = DIOJNI.allocateDIO(
m_digital_ports[channel - 1], (byte) (input ? 1 : 0), status.asIntBuffer()) != 0;
m_digital_ports[channel], (byte) (input ? 1 : 0), status.asIntBuffer()) != 0;
HALUtil.checkStatus(status.asIntBuffer());
return allocated;
}
@@ -287,7 +287,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
DIOJNI.freeDIO(m_digital_ports[channel - 1], status.asIntBuffer());
DIOJNI.freeDIO(m_digital_ports[channel], status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@@ -304,7 +304,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
DIOJNI.setDIO(m_digital_ports[channel - 1], (byte) (value ? 1 : 0),
DIOJNI.setDIO(m_digital_ports[channel], (byte) (value ? 1 : 0),
status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@@ -321,7 +321,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
boolean value = DIOJNI.getDIO(m_digital_ports[channel - 1], status.asIntBuffer()) != 0;
boolean value = DIOJNI.getDIO(m_digital_ports[channel], status.asIntBuffer()) != 0;
HALUtil.checkStatus(status.asIntBuffer());
return value;
}
@@ -357,7 +357,7 @@ public class DigitalModule extends Module {
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
boolean value = DIOJNI.getDIODirection(
m_digital_ports[channel - 1], status.asIntBuffer()) != 0;
m_digital_ports[channel], status.asIntBuffer()) != 0;
HALUtil.checkStatus(status.asIntBuffer());
return value;
}
@@ -394,7 +394,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
DIOJNI.pulse(m_digital_ports[channel - 1], pulseLength, status.asIntBuffer());
DIOJNI.pulse(m_digital_ports[channel], pulseLength, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@@ -415,7 +415,7 @@ public class DigitalModule extends Module {
float convertedPulse = (float) (pulseLength / 1.0e9 * (DIOJNI.getLoopTiming(status.asIntBuffer()) * 25));
System.err
.println("You should use the float version of pulse for portability. This is deprecated");
DIOJNI.pulse(m_digital_ports[channel - 1], convertedPulse, status.asIntBuffer());
DIOJNI.pulse(m_digital_ports[channel], convertedPulse, status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
}
@@ -430,7 +430,7 @@ public class DigitalModule extends Module {
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
boolean value = DIOJNI.isPulsing(m_digital_ports[channel - 1],
boolean value = DIOJNI.isPulsing(m_digital_ports[channel],
status.asIntBuffer()) != 0;
HALUtil.checkStatus(status.asIntBuffer());
return value;

6
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java
View File

@@ -45,7 +45,7 @@ public abstract class DigitalSource extends InterruptableSensorBase {
try {
channels.allocate((m_moduleNumber - 1) * kDigitalChannels
+ m_channel - 1);
+ m_channel);
} catch (CheckedAllocationException ex) {
throw new AllocationException("Digital input " + m_channel
+ " on module " + m_moduleNumber + " is already allocated");
@@ -63,7 +63,7 @@ public abstract class DigitalSource extends InterruptableSensorBase {
}
public void free() {
channels.free(((m_moduleNumber - 1) * kDigitalChannels + m_channel - 1));
channels.free(((m_moduleNumber - 1) * kDigitalChannels + m_channel));
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -79,7 +79,7 @@ public abstract class DigitalSource extends InterruptableSensorBase {
* @return channel routing number
*/
public int getChannelForRouting() {
return m_channel - 1;
return m_channel;
}
/**

2
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -31,7 +31,7 @@ public class DriverStation implements IInputOutput {
/**
* Analog channel to read the battery
*/
public static final int kBatteryChannel = 8;
public static final int kBatteryChannel = 7;
/**
* Number of Joystick Ports
*/

4
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java
View File

@@ -116,7 +116,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
checkPWMModule(moduleNumber);
checkPWMChannel(channel);
try {
allocated.allocate((moduleNumber - 1) * kPwmChannels + channel - 1);
allocated.allocate((moduleNumber - 1) * kPwmChannels + channel);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"PWM channel " + channel + " on module " + moduleNumber + " is already allocated");
@@ -159,7 +159,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
public void free() {
m_module.setPWM(m_channel, kPwmDisabled);
m_module.freeDIO(m_channel);
allocated.free((m_module.getModuleNumber() - 1) * kPwmChannels + m_channel - 1);
allocated.free((m_module.getModuleNumber() - 1) * kPwmChannels + m_channel);
}
/**

12
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Relay.java
View File

@@ -139,14 +139,14 @@ public class Relay extends SensorBase implements IDeviceController,
if (m_direction == Direction.kBoth
|| m_direction == Direction.kForward) {
relayChannels.allocate(((moduleNumber - 1) * kRelayChannels
+ m_channel - 1) * 2);
+ m_channel) * 2);
UsageReporting.report(tResourceType.kResourceType_Relay,
m_channel, moduleNumber - 1);
}
if (m_direction == Direction.kBoth
|| m_direction == Direction.kReverse) {
relayChannels.allocate(((moduleNumber - 1) * kRelayChannels
+ m_channel - 1) * 2 + 1);
+ m_channel) * 2 + 1);
UsageReporting.report(tResourceType.kResourceType_Relay,
m_channel + 128, moduleNumber - 1);
}
@@ -229,15 +229,15 @@ public class Relay extends SensorBase implements IDeviceController,
if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
relayChannels.free(((m_module.getModuleNumber() - 1)
* kRelayChannels + m_channel - 1) * 2);
* kRelayChannels + m_channel) * 2);
m_module.freeDIO(((m_module.getModuleNumber() - 1) * kRelayChannels
+ m_channel - 1) * 2);
+ m_channel) * 2);
}
if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
relayChannels.free(((m_module.getModuleNumber() - 1)
* kRelayChannels + m_channel - 1) * 2 + 1);
* kRelayChannels + m_channel) * 2 + 1);
m_module.freeDIO(((m_module.getModuleNumber() - 1) * kRelayChannels
+ m_channel - 1) * 2 + 1);
+ m_channel) * 2 + 1);
}
}

6
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java
View File

@@ -172,7 +172,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param channel The channel number to check.
*/
protected static void checkDigitalChannel(final int channel) {
if (channel <= 0 || channel > kDigitalChannels) {
if (channel < 0 || channel >= kDigitalChannels) {
System.err.println("Requested digital channel number is out of range.");
}
}
@@ -185,7 +185,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param channel The channel number to check.
*/
protected static void checkRelayChannel(final int channel) {
if (channel <= 0 || channel > kRelayChannels) {
if (channel < 0 || channel >= kRelayChannels) {
System.err.println("Requested relay channel number is out of range.");
throw new IndexOutOfBoundsException("Requested relay channel number is out of range.");
}
@@ -199,7 +199,7 @@ public abstract class SensorBase { // TODO: Refactor
* @param channel The channel number to check.
*/
protected static void checkPWMChannel(final int channel) {
if (channel <= 0 || channel > kPwmChannels) {
if (channel < 0 || channel >= kPwmChannels) {
System.err.println("Requested PWM channel number is out of range.");
throw new IndexOutOfBoundsException("Requested PWM channel number is out of range.");
}

36
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
View File

@@ -44,10 +44,10 @@ public final class TestBench {
//THESE MUST BE IN INCREMENTING ORDER
public static final int DIOCrossConnectA1 = 7;
public static final int DIOCrossConnectA2 = 8;
public static final int DIOCrossConnectB1 = 9;
public static final int DIOCrossConnectB2 = 10;
public static final int DIOCrossConnectA1 = 6;
public static final int DIOCrossConnectA2 = 7;
public static final int DIOCrossConnectB1 = 8;
public static final int DIOCrossConnectB2 = 9;
/** The Singleton instance of the Test Bench */
private static TestBench instance = null;
@@ -69,9 +69,9 @@ public final class TestBench {
* @return a freshly allocated Talon, Encoder pair
*/
public MotorEncoderFixture getTalonPair() {
Talon talon = new Talon(1);
DigitalInput encA1 = new DigitalInput(1);
DigitalInput encB1 = new DigitalInput(2);
Talon talon = new Talon(0);
DigitalInput encA1 = new DigitalInput(0);
DigitalInput encB1 = new DigitalInput(1);
MotorEncoderFixture talonPair = new MotorEncoderFixture(talon, encA1,
encB1);
@@ -85,9 +85,9 @@ public final class TestBench {
* @return a freshly allocated Victor, Encoder pair
*/
public MotorEncoderFixture getVictorPair() {
Victor vic = new Victor(2);
DigitalInput encA2 = new DigitalInput(3);
DigitalInput encB2 = new DigitalInput(4);
Victor vic = new Victor(1);
DigitalInput encA2 = new DigitalInput(2);
DigitalInput encB2 = new DigitalInput(3);
MotorEncoderFixture vicPair = new MotorEncoderFixture(vic, encA2, encB2);
return vicPair;
}
@@ -99,9 +99,9 @@ public final class TestBench {
* @return a freshly allocated Jaguar, Encoder pair
*/
public MotorEncoderFixture getJaguarPair() {
Jaguar jag = new Jaguar(3);
DigitalInput encA3 = new DigitalInput(5);
DigitalInput encB3 = new DigitalInput(6);
Jaguar jag = new Jaguar(2);
DigitalInput encA3 = new DigitalInput(4);
DigitalInput encB3 = new DigitalInput(5);
MotorEncoderFixture jagPair = new MotorEncoderFixture(jag, encA3, encB3);
return jagPair;
}
@@ -116,8 +116,8 @@ public final class TestBench {
*/
public MotorEncoderFixture getCanJaguarPair() {
DigitalInput encA4 = new DigitalInput(7);
DigitalInput encB4 = new DigitalInput(8);
DigitalInput encA4 = new DigitalInput(6);
DigitalInput encB4 = new DigitalInput(7);
MotorEncoderFixture canPair;
if (canJag == null) { // Again this is because the CanJaguar does not
// have a free method
@@ -138,12 +138,12 @@ public final class TestBench {
* @return a freshly allocated Servo's and a freshly allocated Gyroscope
*/
public TiltPanCameraFixture getTiltPanCam() {
Gyro gyro = new Gyro(1);
Gyro gyro = new Gyro(0);
gyro.setSensitivity(.007); // If a different gyroscope is used this
// value will be different
Servo tilt = new Servo(10);
Servo pan = new Servo(9);
Servo tilt = new Servo(9);
Servo pan = new Servo(8);
TiltPanCameraFixture tpcam = new TiltPanCameraFixture(tilt, pan, gyro);