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Merge "Fixed FRCSim artf2609 - double ports handled wrong."

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This commit is contained in:
Alex Henning (WPI)
2014-07-07 12:22:39 -07:00
committed by Gerrit Code Review
parent 5800af49bc 55fde6b616
commit 3b4718fc92
4 changed files with 24 additions and 8 deletions
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2
wpilibc/wpilibC++Sim/include/Encoder.h
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@@ -70,7 +70,7 @@ private:
double m_distancePerPulse; // distance of travel for each encoder tick
EncodingType m_encodingType; // Encoding type
PIDSourceParameter m_pidSource; // Encoder parameter that sources a PID controller
bool reversed;
bool m_reverseDirection;
SimEncoder* impl;
ITable *m_table;

12
wpilibc/wpilibC++Sim/src/Encoder.cpp
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@@ -24,7 +24,6 @@ void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, Enc
m_table = NULL;
this->channelA = channelA;
this->channelB = channelB;
reversed = reverseDirection;
m_encodingType = encodingType;
int32_t index = 0;
@@ -37,6 +36,9 @@ void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, Enc
int channel = channelB;
channelB = channelA;
channelA = channel;
m_reverseDirection = !reverseDirection;
} else {
m_reverseDirection = reverseDirection;
}
char buffer[50];
int n = sprintf(buffer, "dio/1/%d/1/%d", channelA, channelB);
@@ -288,7 +290,11 @@ void Encoder::SetMinRate(double minRate)
*/
void Encoder::SetDistancePerPulse(double distancePerPulse)
{
m_distancePerPulse = distancePerPulse;
if (m_reverseDirection) {
m_distancePerPulse = -distancePerPulse;
} else {
m_distancePerPulse = distancePerPulse;
}
}
/**
@@ -334,7 +340,7 @@ void Encoder::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("Speed", GetRate());
m_table->PutNumber("Distance", GetDistance());
m_table->PutNumber("Distance per Tick", m_distancePerPulse);
m_table->PutNumber("Distance per Tick", m_reverseDirection ? -m_distancePerPulse : m_distancePerPulse);
}
}

6
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
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@@ -45,6 +45,7 @@ public class DoubleSolenoid implements LiveWindowSendable {
private int m_forwardChannel; ///< The forward channel on the module to control.
private int m_reverseChannel; ///< The reverse channel on the module to control.
private int m_moduleNumber;
private boolean m_reverseDirection;
private SimSpeedController m_impl;
private Value m_value;
@@ -61,6 +62,7 @@ public class DoubleSolenoid implements LiveWindowSendable {
int channel = forwardChannel;
forwardChannel = reverseChannel;
reverseChannel = channel;
m_reverseDirection = true;
}
m_impl = new SimSpeedController("simulator/pneumatic/"+moduleNumber+"/"+forwardChannel+"/"+moduleNumber+"/"+reverseChannel);
}
@@ -103,10 +105,10 @@ public class DoubleSolenoid implements LiveWindowSendable {
m_impl.set(0);
break;
case Value.kForward_val:
m_impl.set(1);
m_impl.set(m_reverseDirection ? -1 : 1);
break;
case Value.kReverse_val:
m_impl.set(-1);
m_impl.set(m_reverseDirection ? 1 : -1);
break;
}
}

12
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -31,6 +31,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
private boolean m_allocatedA;
private boolean m_allocatedB;
private boolean m_allocatedI;
private boolean m_reverseDirection;
private PIDSourceParameter m_pidSource;
private SimEncoder impl;
@@ -59,6 +60,9 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
int channel = bChannel;
bChannel = aChannel;
aChannel = channel;
m_reverseDirection = !reverseDirection;
} else {
m_reverseDirection = reverseDirection;
}
impl = new SimEncoder("simulator/dio/1/"+aChannel+"/1/"+bChannel);
setDistancePerPulse(1);
@@ -243,7 +247,11 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
*/
public void setDistancePerPulse(double distancePerPulse) {
System.err.println("NOTE|WPILibJSim: Encoder.setDistancePerPulse() assumes 360 pulses per revolution in simulation.");
m_distancePerPulse = distancePerPulse;
if (m_reverseDirection) {
m_distancePerPulse = -distancePerPulse;
} else {
m_distancePerPulse = distancePerPulse;
}
}
/**
@@ -309,7 +317,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource,
if (m_table != null) {
m_table.putNumber("Speed", getRate());
m_table.putNumber("Distance", getDistance());
m_table.putNumber("Distance per Tick", m_distancePerPulse);
m_table.putNumber("Distance per Tick", m_reverseDirection ? -m_distancePerPulse : m_distancePerPulse);
}
}