Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

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.");
}