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Added support for PacGoat robot for artf2591.

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This also includes support for solenoids (artf2592) in the gazebo plugin and WPILibJavaSim, fixes a concurrency issue with JavaGazebo.

Change-Id: I5bd19556a7511387852c98414e4a29fdfd68b8cd
This commit is contained in:
Alex Henning
2014-06-23 14:43:45 -07:00
parent 0f8c83f693
commit 40628a817d
34 changed files with 1807 additions and 62 deletions
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6
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/DriveTrain.java
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@@ -1,6 +1,6 @@
package $package.subsystems;
import edu.wpi.first.wpilibj.AnalogChannel;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.Gyro;
@@ -24,7 +24,7 @@ public class DriveTrain extends Subsystem {
front_right_motor, back_right_motor;
private RobotDrive drive;
private Encoder left_encoder, right_encoder;
private AnalogChannel rangefinder;
private AnalogInput rangefinder;
private Gyro gyro;
public DriveTrain() {
@@ -55,7 +55,7 @@ public class DriveTrain extends Subsystem {
left_encoder.start();
right_encoder.start();
rangefinder = new AnalogChannel(6);
rangefinder = new AnalogInput(6);
gyro = new Gyro(1);
// Let's show everything on the LiveWindow

48
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/OI.java Normal file
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@@ -0,0 +1,48 @@
package $package;
import $package.commands.Collect;
import $package.commands.DriveForward;
import $package.commands.LowGoal;
import $package.commands.SetCollectionSpeed;
import $package.commands.SetPivotSetpoint;
import $package.commands.Shoot;
import $package.subsystems.Collector;
import $package.subsystems.Pivot;
import $package.triggers.DoubleButton;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The operator interface of the robot, it has been simplified from the real
* robot to allow control with a single PS3 joystick. As a result, not all
* functionality from the real robot is available.
*/
public class OI {
public Joystick joystick;
public OI() {
joystick = new Joystick(1);
new JoystickButton(joystick, 12).whenPressed(new LowGoal());
new JoystickButton(joystick, 10).whenPressed(new Collect());
new JoystickButton(joystick, 11).whenPressed(new SetPivotSetpoint(Pivot.SHOOT));
new JoystickButton(joystick, 9).whenPressed(new SetPivotSetpoint(Pivot.SHOOT_NEAR));
new DoubleButton(joystick, 2, 3).whenActive(new Shoot());
// SmartDashboard Buttons
SmartDashboard.putData("Drive Forward", new DriveForward(2.25));
SmartDashboard.putData("Drive Backward", new DriveForward(-2.25));
SmartDashboard.putData("Start Rollers", new SetCollectionSpeed(Collector.FORWARD));
SmartDashboard.putData("Stop Rollers", new SetCollectionSpeed(Collector.STOP));
SmartDashboard.putData("Reverse Rollers", new SetCollectionSpeed(Collector.REVERSE));
}
public Joystick getJoystick() {
return joystick;
}
}

122
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java Normal file
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@@ -0,0 +1,122 @@
package $package;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import $package.commands.DriveAndShootAutonomous;
import $package.commands.DriveForward;
import $package.subsystems.Collector;
import $package.subsystems.DriveTrain;
import $package.subsystems.Pivot;
import $package.subsystems.Pneumatics;
import $package.subsystems.Shooter;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This is the main class for running the PacGoat code.
*
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
Command autonomousCommand;
public static OI oi;
public static DriveTrain drivetrain;
public static Collector collector;
public static Shooter shooter;
public static Pneumatics pneumatics;
public static Pivot pivot;;
public SendableChooser autoChooser;
public SendableChooser autonomousDirectionChooser;
// This function is run when the robot is first started up and should be
// used for any initialization code.
public void robotInit() {
// Initialize the subsystems
drivetrain = new DriveTrain();
collector = new Collector();
shooter = new Shooter();
pneumatics = new Pneumatics();
pivot = new Pivot();
SmartDashboard.putData(drivetrain);
SmartDashboard.putData(collector);
SmartDashboard.putData(shooter);
SmartDashboard.putData(pneumatics);
SmartDashboard.putData(pivot);
// This MUST be here. If the OI creates Commands (which it very likely
// will), constructing it during the construction of CommandBase (from
// which commands extend), subsystems are not guaranteed to be
// yet. Thus, their requires() statements may grab null pointers. Bad
// news. Don't move it.
oi = new OI();
// instantiate the command used for the autonomous period
autoChooser = new SendableChooser();
autoChooser.addDefault("Drive and Shoot", new DriveAndShootAutonomous());
autoChooser.addObject("Drive Forward", new DriveForward());
SmartDashboard.putData("Auto Mode", autoChooser);
pneumatics.start(); // Pressurize the pneumatics.
}
public void autonomousInit() {
Command auto = (Command) autoChooser.getSelected();
auto.start();
}
// This function is called periodically during autonomous
public void autonomousPeriodic() {
Scheduler.getInstance().run();
log();
}
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (autonomousCommand != null) {
autonomousCommand.cancel();
}
}
// This function is called periodically during operator control
public void teleopPeriodic() {
Scheduler.getInstance().run();
log();
}
// This function called periodically during test mode
public void testPeriodic() {
LiveWindow.run();
}
public void disabledInit() {
Robot.shooter.unlatch();
}
// This function is called periodically while disabled
public void disabledPeriodic() {
log();
}
/**
* Log interesting values to the SmartDashboard.
*/
private void log() {
Robot.pneumatics.writePressure();
SmartDashboard.putNumber("Pivot Pot Value", Robot.pivot.getAngle());
SmartDashboard.putNumber("Left Distance", drivetrain.getLeftEncoder().getDistance());
SmartDashboard.putNumber("Right Distance", drivetrain.getRightEncoder().getDistance());
}
}

37
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/CheckForHotGoal.java Normal file
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@@ -0,0 +1,37 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* This command looks for the hot goal and waits until it's detected or timed
* out. The timeout is because it's better to shoot and get some autonomous
* points than get none. When called sequentially, this command will block until
* the hot goal is detected or until it is timed out.
*/
public class CheckForHotGoal extends Command {
public CheckForHotGoal(double time) {
setTimeout(time);
}
// Called just before this Command runs the first time
protected void initialize() {}
// Called repeatedly when this Command is scheduled to run
protected void execute() {}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return isTimedOut() || Robot.shooter.goalIsHot();
}
// Called once after isFinished returns true
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {
end();
}
}

39
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/CloseClaw.java Normal file
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@@ -0,0 +1,39 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* Close the claw.
*
* NOTE: It doesn't wait for the claw to close since their is no sensor to
* detect that.
*/
public class CloseClaw extends Command {
public CloseClaw() {
requires(Robot.collector);
}
// Called just before this Command runs the first time
protected void initialize() {
Robot.collector.close();
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return true;
}
// Called once after isFinished returns true
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {}
}

18
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/Collect.java Normal file
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@@ -0,0 +1,18 @@
package $package.commands;
import $package.subsystems.Collector;
import $package.subsystems.Pivot;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Get the robot set to collect balls.
*/
public class Collect extends CommandGroup {
public Collect() {
addSequential(new SetCollectionSpeed(Collector.FORWARD));
addParallel(new CloseClaw());
addSequential(new SetPivotSetpoint(Pivot.COLLECT));
addSequential(new WaitForBall());
}
}

23
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveAndShootAutonomous.java Normal file
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@@ -0,0 +1,23 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Drive over the line and then shoot the ball. If the hot goal is not detected,
* it will wait briefly.
*/
public class DriveAndShootAutonomous extends CommandGroup {
public DriveAndShootAutonomous() {
addSequential(new WaitForPressure(), 2);
if (Robot.isReal()) {
// NOTE: Simulation doesn't currently have the concept of hot.
addSequential(new CheckForHotGoal(2));
}
addSequential(new CloseClaw());
addSequential(new SetPivotSetpoint(45));
addSequential(new DriveForward(8, 0.4));
addSequential(new Shoot());
}
}

58
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveForward.java Normal file
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@@ -0,0 +1,58 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* This command drives the robot over a given distance with simple proportional
* control This command will drive a given distance limiting to a maximum speed.
*/
public class DriveForward extends Command {
private double driveForwardSpeed;
private double distance;
private final double tolerance = .1; // TODO: Was 5
private double error;
private final double Kp = -1.0 / 5.0;
public DriveForward() {
this(10, 0.5);
}
public DriveForward(double dist) {
this(dist, 0.5);
}
public DriveForward(double dist, double maxSpeed) {
requires(Robot.drivetrain);
distance = dist;
driveForwardSpeed = maxSpeed;
}
protected void initialize() {
Robot.drivetrain.getRightEncoder().reset();
setTimeout(2);
}
protected void execute() {
error = (distance - Robot.drivetrain.getRightEncoder().getDistance());
if (driveForwardSpeed * Kp * error >= driveForwardSpeed) {
Robot.drivetrain.tankDrive(driveForwardSpeed, driveForwardSpeed);
} else {
Robot.drivetrain.tankDrive(driveForwardSpeed * Kp * error,
driveForwardSpeed * Kp * error);
}
}
protected boolean isFinished() {
return (Math.abs(error) <= tolerance) || isTimedOut();
}
protected void end() {
Robot.drivetrain.stop();
}
protected void interrupted() {
end();
}
}

34
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveWithJoystick.java Normal file
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@@ -0,0 +1,34 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* This command allows PS3 joystick to drive the robot. It is always running
* except when interrupted by another command.
*/
public class DriveWithJoystick extends Command {
public DriveWithJoystick() {
requires(Robot.drivetrain);
}
protected void initialize() {
}
protected void execute() {
Robot.drivetrain.tankDrive(Robot.oi.getJoystick());
}
protected boolean isFinished() {
return false;
}
protected void end() {
Robot.drivetrain.stop();
}
protected void interrupted() {
end();
}
}

41
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/ExtendShooter.java Normal file
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@@ -0,0 +1,41 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* Extend the shooter and then retract it after a second.
*/
public class ExtendShooter extends Command {
public ExtendShooter() {
requires(Robot.shooter);
setTimeout(1);
}
// Called just before this Command runs the first time
protected void initialize() {
Robot.shooter.extendBoth();
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return isTimedOut();
}
// Called once after isFinished returns true
protected void end() {
Robot.shooter.retractBoth();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {
end();
}
}

17
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/LowGoal.java Normal file
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@@ -0,0 +1,17 @@
package $package.commands;
import $package.subsystems.Collector;
import $package.subsystems.Pivot;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Spit the ball out into the low goal assuming that the robot is in front of it.
*/
public class LowGoal extends CommandGroup {
public LowGoal() {
addSequential(new SetPivotSetpoint(Pivot.LOW_GOAL));
addSequential(new SetCollectionSpeed(Collector.REVERSE));
addSequential(new ExtendShooter());
}
}

36
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/OpenClaw.java Normal file
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@@ -0,0 +1,36 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* Opens the claw
*/
public class OpenClaw extends Command {
public OpenClaw() {
requires(Robot.collector);
}
// Called just before this Command runs the first time
protected void initialize() {
Robot.collector.open();
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return Robot.collector.isOpen();
}
// Called once after isFinished returns true
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {}
}

39
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/SetCollectionSpeed.java Normal file
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@@ -0,0 +1,39 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* This command sets the collector rollers spinning at the given speed. Since
* there is no sensor for detecting speed, it finishes immediately. As a result,
* the spinners may still be adjusting their speed.
*/
public class SetCollectionSpeed extends Command {
private double speed;
public SetCollectionSpeed(double speed) {
requires(Robot.collector);
this.speed = speed;
}
// Called just before this Command runs the first time
protected void initialize() {
Robot.collector.setSpeed(speed);
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return true;
}
// Called once after isFinished returns true
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {}
}

44
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/SetPivotSetpoint.java Normal file
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@@ -0,0 +1,44 @@
/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* Moves the pivot to a given angle. This command finishes when it is within
* the tolerance, but leaves the PID loop running to maintain the position.
* Other commands using the pivot should make sure they disable PID!
*/
public class SetPivotSetpoint extends Command {
private double setpoint;
public SetPivotSetpoint(double setpoint) {
this.setpoint = setpoint;
requires(Robot.pivot);
}
// Called just before this Command runs the first time
protected void initialize() {
Robot.pivot.enable();
Robot.pivot.setSetpoint(setpoint);
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return Robot.pivot.onTarget();
}
// Called once after isFinished returns true
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {}
}

17
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/Shoot.java Normal file
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@@ -0,0 +1,17 @@
package $package.commands;
import $package.subsystems.Collector;
import edu.wpi.first.wpilibj.command.CommandGroup;
/**
* Shoot the ball at the current angle.
*/
public class Shoot extends CommandGroup {
public Shoot() {
addSequential(new WaitForPressure());
addSequential(new SetCollectionSpeed(Collector.STOP));
addSequential(new OpenClaw());
addSequential(new ExtendShooter());
}
}

35
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/WaitForBall.java Normal file
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@@ -0,0 +1,35 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* Wait until the collector senses that it has the ball. This command does
* nothing and is intended to be used in command groups to wait for this
* condition.
*/
public class WaitForBall extends Command {
public WaitForBall() {
requires(Robot.collector);
}
// Called just before this Command runs the first time
protected void initialize() {}
// Called repeatedly when this Command is scheduled to run
protected void execute() {}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return Robot.collector.hasBall();
}
// Called once after isFinished returns true
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {}
}

34
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/WaitForPressure.java Normal file
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@@ -0,0 +1,34 @@
package $package.commands;
import $package.Robot;
import edu.wpi.first.wpilibj.command.Command;
/**
* Wait until the pneumatics are fully pressurized. This command does nothing
* and is intended to be used in command groups to wait for this condition.
*/
public class WaitForPressure extends Command {
public WaitForPressure() {
requires(Robot.pneumatics);
}
// Called just before this Command runs the first time
protected void initialize() {}
// Called repeatedly when this Command is scheduled to run
protected void execute() {}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
return Robot.pneumatics.isPressurized();
}
// Called once after isFinished returns true
protected void end() {}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {}
}

91
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Collector.java Normal file
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@@ -0,0 +1,91 @@
package $package.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The Collector subsystem has one motor for the rollers, a limit switch for ball
* detection, a piston for opening and closing the claw, and a reed switch to
* check if the piston is open.
*/
public class Collector extends Subsystem {
// Constants for some useful speeds
public static final double FORWARD = 1;
public static final double STOP = 0;
public static final double REVERSE = -1;
// Subsystem devices
private SpeedController rollerMotor;
private DigitalInput ballDetector;
private Solenoid piston;
private DigitalInput openDetector;
public Collector() {
// Configure devices
rollerMotor = new Victor(6);
ballDetector = new DigitalInput(10);
openDetector = new DigitalInput(6);
piston = new Solenoid(1, 1);
// Put everything to the LiveWindow for testing.
LiveWindow.addActuator("Collector", "Roller Motor", (Victor) rollerMotor);
LiveWindow.addSensor("Collector", "Ball Detector", ballDetector);
LiveWindow.addSensor("Collector", "Claw Open Detector", openDetector);
LiveWindow.addActuator("Collector", "Piston", piston);
}
/**
* NOTE: The current simulation model uses the the lower part of the claw
* since the limit switch wasn't exported. At some point, this will be
* updated.
*
* @return Whether or not the robot has the ball.
*/
public boolean hasBall() {
return ballDetector.get(); // TODO: prepend ! to reflect real robot
}
/**
* @param speed The speed to spin the rollers.
*/
public void setSpeed(double speed) {
rollerMotor.set(-speed);
}
/**
* Stop the rollers from spinning
*/
public void stop() {
rollerMotor.set(0);
}
/**
* @return Whether or not the claw is open.
*/
public boolean isOpen() {
return openDetector.get(); // TODO: prepend ! to reflect real robot
}
/**
* Open the claw up. (For shooting)
*/
public void open() {
piston.set(true);
}
/**
* Close the claw. (For collecting and driving)
*/
public void close() {
piston.set(false);
}
/**
* No default command.
*/
@Override protected void initDefaultCommand() {}
}

129
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java Normal file
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@@ -0,0 +1,129 @@
package $package.subsystems;
import $package.Robot;
import $package.commands.DriveWithJoystick;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Gyro;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.PIDSource.PIDSourceParameter;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The DriveTrain subsystem controls the robot's chassis and reads in
* information about it's speed and position.
*/
public class DriveTrain extends Subsystem {
// Subsystem devices
private SpeedController frontLeftCIM, frontRightCIM;
private SpeedController backLeftCIM, backRightCIM;
private RobotDrive drive;
private Encoder rightEncoder, leftEncoder;
private Gyro gyro;
public DriveTrain() {
// Configure drive motors
frontLeftCIM = new Victor(1);
frontRightCIM = new Victor(2);
backLeftCIM = new Victor(3);
backRightCIM = new Victor(4);
LiveWindow.addActuator("DriveTrain", "Front Left CIM", (Victor) frontLeftCIM);
LiveWindow.addActuator("DriveTrain", "Front Right CIM", (Victor) frontRightCIM);
LiveWindow.addActuator("DriveTrain", "Back Left CIM", (Victor) backLeftCIM);
LiveWindow.addActuator("DriveTrain", "Back Right CIM", (Victor) backRightCIM);
// Configure the RobotDrive to reflect the fact that all our motors are
// wired backwards and our drivers sensitivity preferences.
drive = new RobotDrive(frontLeftCIM, backLeftCIM, frontRightCIM, backRightCIM);
drive.setSafetyEnabled(true);
drive.setExpiration(0.1);
drive.setSensitivity(0.5);
drive.setMaxOutput(1.0);
drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true);
drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
drive.setInvertedMotor(RobotDrive.MotorType.kFrontRight, true);
drive.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
// Configure encoders
rightEncoder = new Encoder(1, 2, true, EncodingType.k4X);
leftEncoder = new Encoder(5, 6, false, EncodingType.k4X); // XXX: Module 2
rightEncoder.setPIDSourceParameter(PIDSourceParameter.kDistance);
leftEncoder.setPIDSourceParameter(PIDSourceParameter.kDistance);
if (Robot.isReal()) { // Converts to feet
rightEncoder.setDistancePerPulse(0.0785398);
leftEncoder.setDistancePerPulse(0.0785398);
} else { // Convert to feet 4in diameter wheels with 360 tick simulated encoders
rightEncoder.setDistancePerPulse((4.0/*in*/*Math.PI)/(360.0*12.0/*in/ft*/));
leftEncoder.setDistancePerPulse((4.0/*in*/*Math.PI)/(360.0*12.0/*in/ft*/));
}
rightEncoder.start();
leftEncoder.start();
LiveWindow.addSensor("DriveTrain", "Right Encoder", rightEncoder);
LiveWindow.addSensor("DriveTrain", "Left Encoder", leftEncoder);
// Configure gyro
gyro = new Gyro(2);
if (Robot.isReal()) {
gyro.setSensitivity(0.007); // TODO: Handle more gracefully?
}
LiveWindow.addSensor("DriveTrain", "Gyro", gyro);
}
/**
* When other commands aren't using the drivetrain, allow tank drive with
* the joystick.
*/
public void initDefaultCommand() {
setDefaultCommand(new DriveWithJoystick());
}
/**
* @param joy PS3 style joystick to use as the input for tank drive.
*/
public void tankDrive(Joystick joy) {
drive.tankDrive(joy.getY(), joy.getRawAxis(4));
}
/**
* @param leftAxis Left sides value
* @param rightAxis Right sides value
*/
public void tankDrive(double leftAxis, double rightAxis) {
drive.tankDrive(leftAxis, rightAxis);
}
/**
* Stop the drivetrain from moving.
*/
public void stop() {
drive.tankDrive(0, 0);
}
/**
* @return The encoder getting the distance and speed of left side of the drivetrain.
*/
public Encoder getLeftEncoder() {
return leftEncoder;
}
/**
* @return The encoder getting the distance and speed of right side of the drivetrain.
*/
public Encoder getRightEncoder() {
return rightEncoder;
}
/**
* @return The current angle of the drivetrain.
*/
public double getAngle() {
return gyro.getAngle();
}
}

94
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pivot.java Normal file
View File

@@ -0,0 +1,94 @@
package $package.subsystems;
import $package.Robot;
import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The Pivot subsystem contains the Van-door motor and the pot for PID control
* of angle of the pivot and claw.
*/
public class Pivot extends PIDSubsystem {
// Constants for some useful angles
public static final double COLLECT = 105;
public static final double LOW_GOAL = 90;
public static final double SHOOT = 45;
public static final double SHOOT_NEAR = 30;
// Subsystem devices
private DigitalInput upperLimitSwitch;
private DigitalInput lowerLimitSwitch;
private Potentiometer pot;
private SpeedController motor;
public Pivot() {
super("Pivot", 7.0, 0.0, 8.0);
setAbsoluteTolerance(0.005);
getPIDController().setContinuous(false);
if (Robot.isSimulation()) { // PID is different in simulation.
getPIDController().setPID(0.5, 0.00001, 4.5);
setAbsoluteTolerance(2.5);
}
// Motor to move the pivot.
motor = new Victor(5);
// Sensors for measuring the position of the pivot.
upperLimitSwitch = new DigitalInput(13);
lowerLimitSwitch = new DigitalInput(12);
// 0 degrees is vertical facing up.
// Angle increases the more forward the pivot goes.
pot = new AnalogPotentiometer(1);
// Put everything to the LiveWindow for testing.
LiveWindow.addSensor("Pivot", "Upper Limit Switch", upperLimitSwitch);
LiveWindow.addSensor("Pivot", "Lower Limit Switch", lowerLimitSwitch);
LiveWindow.addSensor("Pivot", "Pot", (AnalogPotentiometer) pot);
LiveWindow.addActuator("Pivot", "Motor", (Victor) motor);
LiveWindow.addActuator("Pivot", "PIDSubsystem Controller", getPIDController());
}
/**
* No default command, if PID is enabled, the current setpoint will be maintained.
*/
public void initDefaultCommand() {}
/**
* @return The angle read in by the potentiometer
*/
protected double returnPIDInput() {
return pot.get();
}
/**
* Set the motor speed based off of the PID output
*/
protected void usePIDOutput(double output) {
motor.pidWrite(output);
}
/**
* @return If the pivot is at its upper limit.
*/
public boolean isAtUpperLimit() {
return upperLimitSwitch.get(); // TODO: inverted from real robot (prefix with !)
}
/**
* @return If the pivot is at its lower limit.
*/
public boolean isAtLowerLimit() {
return lowerLimitSwitch.get(); // TODO: inverted from real robot (prefix with !)
}
/**
* @return The current angle of the pivot.
*/
public double getAngle() {
return pot.get();
}
}

61
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pneumatics.java Normal file
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@@ -0,0 +1,61 @@
package $package.subsystems;
import $package.Robot;
import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The Pneumatics subsystem contains the compressor and a pressure sensor.
*
* NOTE: The simulator currently doesn't support the compressor or pressure sensors.
*/
public class Pneumatics extends Subsystem {
AnalogInput pressureSensor;
Compressor compressor;
private static final double MAX_PRESSURE = 2.55;
public Pneumatics() {
pressureSensor = new AnalogInput(3);
if (Robot.isReal()) {
compressor = new Compressor();
}
LiveWindow.addSensor("Pneumatics", "Pressure Sensor", pressureSensor);
}
/**
* No default command
*/
public void initDefaultCommand() {}
/**
* Start the compressor going. The compressor automatically starts and stops as it goes above and below maximum pressure.
*/
public void start() {
if (Robot.isReal()) {
compressor.start();
}
}
/**
* @return Whether or not the system is fully pressurized.
*/
public boolean isPressurized() {
if (Robot.isReal()) {
return MAX_PRESSURE <= pressureSensor.getVoltage();
} else {
return true; // NOTE: Simulation always has full pressure
}
}
/**
* Puts the pressure on the SmartDashboard.
*/
public void writePressure() {
SmartDashboard.putNumber("Pressure", pressureSensor.getVoltage());
}
}

166
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Shooter.java Normal file
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@@ -0,0 +1,166 @@
package $package.subsystems;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* The Shooter subsystem handles shooting. The mechanism for shooting is
* slightly complicated because it has to pneumatic cylinders for shooting, and
* a third latch to allow the pressure to partially build up and reduce the
* effect of the airflow. For shorter shots, when full power isn't needed, only
* one cylinder fires.
*
* NOTE: Simulation currently approximates this as as single pneumatic cylinder
* and ignores the latch.
*/
public class Shooter extends Subsystem {
// Devices
DoubleSolenoid piston1;
DoubleSolenoid piston2;
Solenoid latchPiston;
DigitalInput piston1ReedSwitchFront;
DigitalInput piston1ReedSwitchBack;
DigitalInput hotGoalSensor; // NOTE: Currently ignored in simulation
public Shooter() {
// Configure Devices
hotGoalSensor = new DigitalInput(3);
piston1 = new DoubleSolenoid(1, 3, 4);
piston2 = new DoubleSolenoid(1, 5, 6);
latchPiston = new Solenoid(1, 2);
piston1ReedSwitchFront = new DigitalInput(9);
piston1ReedSwitchBack = new DigitalInput(11);
// Put everything to the LiveWindow for testing.
LiveWindow.addSensor("Shooter", "Hot Goal Sensor", hotGoalSensor);
LiveWindow.addSensor("Shooter", "Piston1 Reed Switch Front ",
piston1ReedSwitchFront);
LiveWindow.addSensor("Shooter", "Piston1 Reed Switch Back ",
piston1ReedSwitchBack);
LiveWindow.addActuator("Shooter", "Latch Piston", latchPiston);
}
/**
* No default command.
*/
public void initDefaultCommand() {}
/**
* Extend both solenoids to shoot.
*/
public void extendBoth() {
piston1.set(DoubleSolenoid.Value.kForward);
piston2.set(DoubleSolenoid.Value.kForward);
}
/**
* Retract both solenoids to prepare to shoot.
*/
public void retractBoth() {
piston1.set(DoubleSolenoid.Value.kReverse);
piston2.set(DoubleSolenoid.Value.kReverse);
}
/**
* Extend solenoid 1 to shoot.
*/
public void extend1() {
piston1.set(DoubleSolenoid.Value.kForward);
}
/**
* Retract solenoid 1 to prepare to shoot.
*/
public void retract1() {
piston1.set(DoubleSolenoid.Value.kReverse);
}
/**
* Extend solenoid 2 to shoot.
*/
public void extend2() {
piston2.set(DoubleSolenoid.Value.kReverse);
}
/**
* Retract solenoid 2 to prepare to shoot.
*/
public void retract2() {
piston2.set(DoubleSolenoid.Value.kForward);
}
/**
* Turns off the piston1 double solenoid. This won't actuate anything
* because double solenoids preserve their state when turned off. This
* should be called in order to reduce the amount of time that the coils are
* powered.
*/
public void off1() {
piston1.set(DoubleSolenoid.Value.kOff);
}
/**
* Turns off the piston1 double solenoid. This won't actuate anything
* because double solenoids preserve their state when turned off. This
* should be called in order to reduce the amount of time that the coils are
* powered.
*/
public void off2() {
piston2.set(DoubleSolenoid.Value.kOff);
}
/**
* Release the latch so that we can shoot
*/
public void unlatch() {
latchPiston.set(true);
}
/**
* Latch so that pressure can build up and we aren't limited by air flow.
*/
public void latch() {
latchPiston.set(false);
}
/**
* Toggles the latch postions
*/
public void toggleLatchPosition() {
latchPiston.set(!latchPiston.get());
}
/**
* @return Whether or not piston 1 is fully extended.
*/
public boolean piston1IsExtended() {
return !piston1ReedSwitchFront.get();
}
/**
* @return Whether or not piston 1 is fully retracted.
*/
public boolean piston1IsRetracted() {
return !piston1ReedSwitchBack.get();
}
/**
* Turns off all double solenoids. Double solenoids hold their position when
* they are turned off. We should turn them off whenever possible to extend
* the life of the coils
*/
public void offBoth() {
piston1.set(DoubleSolenoid.Value.kOff);
piston2.set(DoubleSolenoid.Value.kOff);
}
/**
* @return Whether or not the goal is hot as read by the banner sensor
*/
public boolean goalIsHot() {
return hotGoalSensor.get();
}
}

23
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/triggers/DoubleButton.java Normal file
View File

@@ -0,0 +1,23 @@
package $package.triggers;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.*;
/**
* A custom button that is triggered when two buttons on a Joystick are
* simultaneously pressed.
*/
public class DoubleButton extends Trigger {
private Joystick joy;
private int button1, button2;
public DoubleButton(Joystick joy, int button1, int button2) {
this.joy = joy;
this.button1 = button1;
this.button2 = button2;
}
public boolean get() {
return joy.getRawButton(button1) && joy.getRawButton(button2);
}
}

62
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml
View File

@@ -84,4 +84,66 @@
<file source="examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/Wrist.java" destination="src/$package-dir/subsystems/Wrist.java"></file>
</files>
</example>
<example>
<name>PacGoat</name>
<description>A fully functional example CommandBased program for FRC Team 190&#39;s 2014 robot. This code can run on your computer if it supports simulation.</description>
<tags>
<tag>CommandBased Robot</tag>
<tag>Simulation</tag>
<tag>2014 Season</tag>
</tags>
<packages>
<package>src/$package-dir</package>
<package>src/$package-dir/commands</package>
<package>src/$package-dir/subsystems</package>
<package>src/$package-dir/triggers</package>
</packages>
<files>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/OI.java"
destination="src/$package-dir/OI.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java"
destination="src/$package-dir/Robot.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/CheckForHotGoal.java"
destination="src/$package-dir/commands/CheckForHotGoal.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/CloseClaw.java"
destination="src/$package-dir/commands/CloseClaw.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/Collect.java"
destination="src/$package-dir/commands/Collect.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveAndShootAutonomous.java"
destination="src/$package-dir/commands/DriveAndShootAutonomous.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveForward.java"
destination="src/$package-dir/commands/DriveForward.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/DriveWithJoystick.java"
destination="src/$package-dir/commands/DriveWithJoystick.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/ExtendShooter.java"
destination="src/$package-dir/commands/ExtendShooter.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/LowGoal.java"
destination="src/$package-dir/commands/LowGoal.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/OpenClaw.java"
destination="src/$package-dir/commands/OpenClaw.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/SetCollectionSpeed.java"
destination="src/$package-dir/commands/SetCollectionSpeed.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/SetPivotSetpoint.java"
destination="src/$package-dir/commands/SetPivotSetpoint.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/Shoot.java"
destination="src/$package-dir/commands/Shoot.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/WaitForBall.java"
destination="src/$package-dir/commands/WaitForBall.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/commands/WaitForPressure.java"
destination="src/$package-dir/commands/WaitForPressure.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Collector.java"
destination="src/$package-dir/subsystems/Collector.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java"
destination="src/$package-dir/subsystems/DriveTrain.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pivot.java"
destination="src/$package-dir/subsystems/Pivot.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Pneumatics.java"
destination="src/$package-dir/subsystems/Pneumatics.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/Shooter.java"
destination="src/$package-dir/subsystems/Shooter.java"></file>
<file source="examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/triggers/DoubleButton.java"
destination="src/$package-dir/triggers/DoubleButton.java"></file>
</files>
</example>
</examples>

17
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Node.java
View File

@@ -57,9 +57,10 @@ public class Node implements Runnable, ServerCallback {
initializeConnection();
new Thread(this).start();
LOG.info("Serving on: "+server.host+":"+server.port);
}
public <T extends Message> Publisher<T> advertise(String topic, T defaultMessage) {
public synchronized <T extends Message> Publisher<T> advertise(String topic, T defaultMessage) {
topic = fixTopic(topic);
LOG.info("ADV "+topic);
String type = defaultMessage.getDescriptorForType().getFullName();
@@ -76,7 +77,7 @@ public class Node implements Runnable, ServerCallback {
return pub;
}
public <T extends Message> Subscriber<T>
public synchronized <T extends Message> Subscriber<T>
subscribe(String topic, T defaultMessage, SubscriberCallback<T> cb) {
topic = fixTopic(topic);
LOG.info("SUB "+topic);
@@ -122,7 +123,7 @@ public class Node implements Runnable, ServerCallback {
}
}
private void initializeConnection() throws IOException {
private synchronized void initializeConnection() throws IOException {
Packet initData = master.read();
if (!initData.getType().equals("version_init")) {
throw new IOException("Expected 'version_init' packet, got '"+initData.getType()+"'.");
@@ -148,7 +149,7 @@ public class Node implements Runnable, ServerCallback {
}
}
public void processPacket(Packet packet) throws InvalidProtocolBufferException {
public synchronized void processPacket(Packet packet) throws InvalidProtocolBufferException {
if (packet.getType().equals("publisher_add")) {
PublisherRecord pub = new RemotePublisherRecord(Publish.parseFrom(packet.getSerializedData()));
@@ -158,6 +159,7 @@ public class Node implements Runnable, ServerCallback {
}
LOG.info("New Publisher: "+pub.getTopic());
LOG.fine("Publisher: "+Publish.parseFrom(packet.getSerializedData()));
publishers.put(pub.getTopic(), pub);
} else if (packet.getType().equals("publisher_subscribe") ||
packet.getType().equals("publisher_advertise")) {
@@ -169,6 +171,7 @@ public class Node implements Runnable, ServerCallback {
}
LOG.info("PUBSUB found for "+pub.getTopic());
LOG.fine("Publisher: "+Publish.parseFrom(packet.getSerializedData()));
subscriptions.get(pub.getTopic()).connect(pub);
} else if (packet.getType().equals("topic_namespace_add")) {
namespaces.add(GzString.String.parseFrom(packet.getSerializedData()).getData());
@@ -183,9 +186,10 @@ public class Node implements Runnable, ServerCallback {
@Override
public void handle(Connection conn) throws IOException {
LOG.fine("Handling new connection");
Packet msg = conn.read();
if (msg == null) {
LOG.severe("Read null message.");
LOG.warning("Read null message.");
return;
}
@@ -196,6 +200,7 @@ public class Node implements Runnable, ServerCallback {
+ sub.getTopic());
return;
}
LOG.fine("New connection for topic="+sub.getTopic());
PublisherRecord pub = publishers.get(sub.getTopic());
if (!pub.getMsgType().equals(sub.getMsgType())) {
@@ -204,7 +209,7 @@ public class Node implements Runnable, ServerCallback {
return;
}
LOG.info("PUB " + sub.getTopic());
LOG.info("CONN " + sub.getTopic());
pub.connect(conn);
} else {
LOG.warning("Unknown message type: " + msg.getType());

25
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Publisher.java
View File

@@ -3,6 +3,7 @@ package org.gazebosim.transport;
import java.io.IOException;
import java.util.LinkedList;
import java.util.List;
import java.util.logging.Logger;
import com.google.protobuf.Message;
@@ -13,7 +14,9 @@ public class Publisher<T extends Message> implements PublisherRecord {
private List<Connection> listeners;
private boolean latching = false;
private T lastMsg = null;
private static final Logger LOG = Logger.getLogger("Gazebo Transport");
public Publisher(String topic, String msgType, String localHost, int localPort) {
this.topic = topic;
this.msgType = msgType;
@@ -24,16 +27,21 @@ public class Publisher<T extends Message> implements PublisherRecord {
public synchronized void publish(T msg) {
lastMsg = msg;
List<Connection> toRemove = new LinkedList<>();
for (Connection listener : listeners) {
try {
listener.write(msg);
} catch (IOException e) {
try {
listener.close();
} catch (IOException e1) { /* Closing failed, probably not a big deal. */}
listeners.remove(listener);
toRemove.add(listener);
}
}
for (Connection listener : toRemove) {
LOG.info("Removing listener from topic="+topic);
try {
listener.close();
} catch (IOException e1) { /* Closing failed, probably not a big deal. */}
listeners.remove(listener);
}
}
@Override
@@ -58,11 +66,16 @@ public class Publisher<T extends Message> implements PublisherRecord {
@Override
public synchronized void connect(Connection conn) {
LOG.fine("Handling subscriber connection for topic: "+topic);
if (latching && lastMsg != null) {
try {
conn.write(lastMsg);
} catch (IOException e) {
return; // TODO: Log
LOG.warning("Writing latched message failed on topic="+topic);
try {
conn.close();
} catch (IOException e1) { /* Closing failed, probably not a big deal. */}
return;
}
}
listeners.add(conn);

2
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Subscriber.java
View File

@@ -66,7 +66,7 @@ public class Subscriber<T extends Message> {
}
} catch (IOException e) {
// FIXME: Connection lost, let's make sure it's closed and complain.
// Hopefully they the reconnect, maybe we should try to recover better?
// Hopefully they try to reconnect, maybe we should try to recover better?
try {
conn.close();
} catch (IOException e1) {

4
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/control
View File

@@ -3,11 +3,11 @@ Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9), ros-indigo-ros-base, gazebo2, libtinyxml2-dev
Build-Depends: debhelper (>= 9), gazebo3, libgazebo-dev, libavcodec-dev, libavformat-dev, libswscale-dev, libtinyxml2-dev
Package: frcsim-gazebo-plugins
Architecture: i386 amd64
Depends: ${shlibs:Depends}, ${misc:Depends}, gazebo2, libtinyxml2-dev
Depends: ${shlibs:Depends}, ${misc:Depends}, gazebo3, libgazebo-dev, libavcodec-dev, libswscale-dev, libtinyxml2-dev
Description: FRC plugin for controlling robots in the gazebo plugin.
This plugin allows robots in gazebo to communicate with WPILib
programs and enables the control of the robots.

134
simulation/frc_gazebo_plugin/src/RobotMapParser.cpp
View File

@@ -2,6 +2,7 @@
#include "RobotMapParser.h"
#include "components/Motor.h"
#include "components/Piston.h"
#include "components/Potentiometer.h"
#include "components/Encoder.h"
#include "components/Gyro.h"
@@ -13,7 +14,7 @@
#include <boost/pointer_cast.hpp>
#include <sdf/sdf.hh>
RobotMapParser::RobotMapParser(std::string robot, std::string filename, physics::ModelPtr model) {
RobotMapParser::RobotMapParser(string robot, string filename, physics::ModelPtr model) {
this->robot = robot;
this->filename = filename;
this->model = model;
@@ -23,7 +24,7 @@ RobotMapParser::RobotMapParser(std::string robot, std::string filename, physics:
/*
* Parse the file and return a list of robot components for the robot
*/
void RobotMapParser::parse(std::vector<RobotComponentPtr> &components) {
void RobotMapParser::parse(vector<RobotComponentPtr> &components) {
// Load an xml document with <robotmap> root tag
XMLDocument doc;
doc.LoadFile(filename.c_str());
@@ -35,6 +36,8 @@ void RobotMapParser::parse(std::vector<RobotComponentPtr> &components) {
// We don't care about comments and other non-element types
} else if (strcmp(current->Value(), "motor") == 0) {
components.push_back(parseMotor(current->ToElement()));
} else if (strcmp(current->Value(), "piston") == 0) {
components.push_back(parsePiston(current->ToElement()));
} else if (strcmp(current->Value(), "potentiometer") == 0) {
components.push_back(parsePotentiometer(current->ToElement()));
} else if (strcmp(current->Value(), "encoder") == 0) {
@@ -48,7 +51,7 @@ void RobotMapParser::parse(std::vector<RobotComponentPtr> &components) {
} else if (strcmp(current->Value(), "rangefinder") == 0) {
components.push_back(parseRangefinder(current->ToElement()));
} else {
std::cerr << "Unknown element: " << current->Value() << std::endl;
cerr << "Unknown element: " << current->Value() << endl;
}
}
}
@@ -67,13 +70,41 @@ void RobotMapParser::parse(std::vector<RobotComponentPtr> &components) {
* </motor>
*/
RobotComponentPtr RobotMapParser::parseMotor(XMLElement *node) {
std::string location = locationToPath(node->FirstChildElement("location"));
string location = locationToPath(node->FirstChildElement("location"));
physics::JointPtr joint = getJoint(node);
double multiplier = boost::lexical_cast<double>(getTagValue(
double multiplier = boost::lexical_cast<double>(getChildTagValue(
node->FirstChildElement("parameters"), "multiplier").c_str());
return new Motor(location, joint, multiplier);
}
/**
* Parse a piston tag. Piston tags have a joint the act on, a location
* they're "plugged into", the area of the cylinder and optionally a
* direction. The template of a piston| tag is as follows:
*
* <piston>
* <joint>{{ joint name (string) }}</joint>
* <location>{{ location (see below for formats }}</location>
* <area units="{{ square inches (default) or square meters}}">
* {{ area in proper units (number) }}
* </area>
* <forward-force>{{ area in newtons (number) }}</forward-force>
* <reverse-force>{{ area in newtons (number) }}</reverse-force>
* <direction>{{ forward (default) or reversed }}</direction>
* </piston>
*/
RobotComponentPtr RobotMapParser::parsePiston(XMLElement *node) {
string location = locationToPath(node->FirstChildElement("location"));
physics::JointPtr joint = getJoint(node);
double forward = boost::lexical_cast<double>(getChildTagValue(node, "forward-force").c_str());
double reverse = boost::lexical_cast<double>(getChildTagValue(node, "reverse-force").c_str());
if (getChildTagValue(node, "direction") == "reversed") {
forward = -forward;
reverse = -reverse;
}
return new Piston(location, joint, forward, reverse);
}
/**
* Parse a potentiometer tag. Potentiometer tags have a joint they measure, a
* location they're "plugged into" and one of three types (linear,
@@ -87,10 +118,10 @@ RobotComponentPtr RobotMapParser::parseMotor(XMLElement *node) {
* </potentiometer>
*/
RobotComponentPtr RobotMapParser::parsePotentiometer(XMLElement *node) {
std::string location = locationToPath(node->FirstChildElement("location"));
string location = locationToPath(node->FirstChildElement("location"));
physics::JointPtr joint = getJoint(node);
std::string radians_str = getTagValue(node, "type", "degrees");
string radians_str = getChildTagValue(node, "type", "degrees");
bool radians;
if (radians_str == "linear" || radians_str == "radians") {
radians = true;
@@ -112,7 +143,7 @@ RobotComponentPtr RobotMapParser::parsePotentiometer(XMLElement *node) {
* </encoder>
*/
RobotComponentPtr RobotMapParser::parseEncoder(XMLElement *node) {
std::string location = locationToPath(node->FirstChildElement("location"));
string location = locationToPath(node->FirstChildElement("location"));
physics::JointPtr joint = getJoint(node);
return new Encoder(location, joint);
}
@@ -129,10 +160,10 @@ RobotComponentPtr RobotMapParser::parseEncoder(XMLElement *node) {
* </gyro>
*/
RobotComponentPtr RobotMapParser::parseGyro(XMLElement *node) {
std::string location = locationToPath(node->FirstChildElement("location"));
string location = locationToPath(node->FirstChildElement("location"));
physics::LinkPtr link = getLink(node);
ROTATION axis;
std::string axisString = getTagValue(node, "axis");
string axisString = getChildTagValue(node, "axis");
if (axisString == "roll") axis = Roll;
if (axisString == "pitch") axis = Pitch;
if (axisString == "yaw") axis = Yaw;
@@ -153,13 +184,13 @@ RobotComponentPtr RobotMapParser::parseGyro(XMLElement *node) {
* </internal-limit-switch>
*/
RobotComponentPtr RobotMapParser::parseInternalLimitSwitch(XMLElement *node) {
std::string location = locationToPath(node->FirstChildElement("location"));
string location = locationToPath(node->FirstChildElement("location"));
physics::JointPtr joint = getJoint(node);
double min = boost::lexical_cast<double>(getTagValue(node, "min", "0"));
double max = boost::lexical_cast<double>(getTagValue(node, "max", "1"));
double min = boost::lexical_cast<double>(getChildTagValue(node, "min", "0"));
double max = boost::lexical_cast<double>(getChildTagValue(node, "max", "1"));
std::string radians_str = getTagValue(node, "type", "degrees");
string radians_str = getChildTagValue(node, "type", "degrees");
bool radians;
if (radians_str == "linear" || radians_str == "radians") {
radians = true;
@@ -180,7 +211,7 @@ RobotComponentPtr RobotMapParser::parseInternalLimitSwitch(XMLElement *node) {
* </external-limit-switch>
*/
RobotComponentPtr RobotMapParser::parseExternalLimitSwitch(XMLElement *node) {
std::string location = locationToPath(node->FirstChildElement("location"));
string location = locationToPath(node->FirstChildElement("location"));
sensors::ContactSensorPtr sensor =
boost::dynamic_pointer_cast<sensors::ContactSensor>(getSensor(node));
return new ExternalLimitSwitch(location, sensor);
@@ -197,18 +228,19 @@ RobotComponentPtr RobotMapParser::parseExternalLimitSwitch(XMLElement *node) {
* </rangefinder>
*/
RobotComponentPtr RobotMapParser::parseRangefinder(XMLElement *node) {
std::string location = locationToPath(node->FirstChildElement("location"));
string location = locationToPath(node->FirstChildElement("location"));
sensors::SonarSensorPtr sensor =
boost::dynamic_pointer_cast<sensors::SonarSensor>(getSensor(node));
return new Rangefinder(location, sensor);
}
/**
* Convert the location tag to a topic name to subscribe/publish
* to. Currently, there are two supported location styles: double_port
* and single port.
*/
std::string RobotMapParser::locationToPath(XMLElement *location) {
string RobotMapParser::locationToPath(XMLElement *location) {
if (location == NULL)
return "";
else if (location->Attribute("style", "double_port"))
@@ -217,24 +249,24 @@ std::string RobotMapParser::locationToPath(XMLElement *location) {
return portLocationToPath(location);
}
std::string RobotMapParser::portLocationToPath(XMLElement *location) {
std::string type = getTagValue(location, "type");
std::string module = getTagValue(location, "module");
std::string pin = getTagValue(location, "pin");
string RobotMapParser::portLocationToPath(XMLElement *location) {
string type = getChildTagValue(location, "type");
string module = getChildTagValue(location, "module");
string pin = getChildTagValue(location, "pin");
return "~/" + robot + "/" + type + "/" + module + "/" + pin;
}
std::string RobotMapParser::doublePortLocationToPath(XMLElement *location) {
std::string type = getTagValue(location, "type");
std::string module1 = getTagValue(location, "module1");
std::string pin1 = getTagValue(location, "pin1");
std::string module2 = getTagValue(location, "module2");
std::string pin2 = getTagValue(location, "pin2");
string RobotMapParser::doublePortLocationToPath(XMLElement *location) {
string type = getChildTagValue(location, "type");
string module1 = getChildTagValue(location, "module1");
string pin1 = getChildTagValue(location, "pin1");
string module2 = getChildTagValue(location, "module2");
string pin2 = getChildTagValue(location, "pin2");
// Swap pins if needed, to maintain consistent ordering
if ((module2 < module1) || ((module2 == module1) && (pin2 < pin1))) {
std::string module = module2;
std::string pin = pin2;
string module = module2;
string pin = pin2;
module2 = module1;
pin2 = pin1;
module1 = module;
@@ -243,7 +275,11 @@ std::string RobotMapParser::doublePortLocationToPath(XMLElement *location) {
return "~/" + robot + "/" + type + "/" + module1 + "/" + pin1 + "/" + module2 + "/" + pin2;
}
std::string RobotMapParser::getTagValue(XMLElement *node, std::string tag, std::string default_value) {
/**
* Returns the value of the first child tag element of the given node
* with the matching tag name.
*/
string RobotMapParser::getChildTagValue(XMLElement *node, string tag, string default_value) {
if (node->FirstChildElement(tag.c_str()) != NULL) {
return node->FirstChildElement(tag.c_str())->FirstChild()->Value();
} else {
@@ -251,23 +287,49 @@ std::string RobotMapParser::getTagValue(XMLElement *node, std::string tag, std::
}
}
/**
* Returns the matching attribute of the given node.
*/
string RobotMapParser::getTagAttribute(XMLElement *node, string attr, string default_value) {
if (node->Attribute(attr.c_str())) {
return node->Attribute(attr.c_str());
} else {
return default_value;
}
}
/**
* Returns the matching attribute of the first child tag element of the given node
* with the matching tag name.
*/
string RobotMapParser::getChildTagAttribute(XMLElement *node, string tag,
string attr, string default_value) {
if (node->FirstChildElement(tag.c_str()) != NULL) {
string value = node->FirstChildElement(tag.c_str())->Attribute(attr.c_str());
if (value != "") {
return value;
}
}
return default_value;
}
physics::JointPtr RobotMapParser::getJoint(XMLElement *node) {
std::string joint_name = node->FirstChildElement("joint")->FirstChild()->Value();
string joint_name = node->FirstChildElement("joint")->FirstChild()->Value();
physics::JointPtr joint = model->GetJoint(joint_name);
if (joint == NULL) std::cerr << "Joint doesn't exist: " << joint_name << std::endl;
if (joint == NULL) cerr << "Joint doesn't exist: " << joint_name << endl;
return joint;
}
physics::LinkPtr RobotMapParser::getLink(XMLElement *node) {
std::string link_name = node->FirstChildElement("link")->FirstChild()->Value();
string link_name = node->FirstChildElement("link")->FirstChild()->Value();
physics::LinkPtr link = model->GetLink(link_name);
if (link == NULL) std::cerr << "Link doesn't exist: " << link_name << std::endl;
if (link == NULL) cerr << "Link doesn't exist: " << link_name << endl;
return link;
}
sensors::SensorPtr RobotMapParser::getSensor(XMLElement *node) {
std::string sensor_name = node->FirstChildElement("sensor")->FirstChild()->Value();
string sensor_name = node->FirstChildElement("sensor")->FirstChild()->Value();
sensors::SensorPtr sensor = sensors::get_sensor(sensor_name);
if (sensor == NULL) std::cerr << "Sensor doesn't exist: " << sensor_name << std::endl;
if (sensor == NULL) cerr << "Sensor doesn't exist: " << sensor_name << endl;
return sensor;
}

20
simulation/frc_gazebo_plugin/src/RobotMapParser.h
View File

@@ -8,32 +8,36 @@
#ifndef _ROBOTMAPPARSER_H_
#define _ROBOTMAPPARSER_H_
using namespace std;
using namespace tinyxml2;
using namespace gazebo;
class RobotMapParser {
public:
RobotMapParser(std::string robot, std::string filename, physics::ModelPtr model);
void parse(std::vector<RobotComponentPtr> &components);
RobotMapParser(string robot, string filename, physics::ModelPtr model);
void parse(vector<RobotComponentPtr> &components);
private:
std::string robot, filename;
string robot, filename;
physics::ModelPtr model;
physics::WorldPtr world;
RobotComponentPtr parseMotor(XMLElement *node);
RobotComponentPtr parsePiston(XMLElement *node);
RobotComponentPtr parsePotentiometer(XMLElement *node);
RobotComponentPtr parseEncoder(XMLElement *node);
RobotComponentPtr parseGyro(XMLElement *node);
RobotComponentPtr parseInternalLimitSwitch(XMLElement *node);
RobotComponentPtr parseExternalLimitSwitch(XMLElement *node);
RobotComponentPtr parseRangefinder(XMLElement *node);
std::string locationToPath(XMLElement *location);
std::string portLocationToPath(XMLElement *location);
std::string doublePortLocationToPath(XMLElement *location);
std::string getTagValue(XMLElement *node, std::string tag, std::string default_value="");
string locationToPath(XMLElement *location);
string portLocationToPath(XMLElement *location);
string doublePortLocationToPath(XMLElement *location);
string getChildTagValue(XMLElement *node, string tag, string default_value="");
string getTagAttribute(XMLElement *node, string attr, string default_value="");
string getChildTagAttribute(XMLElement *node, string tag, string attr, string default_value="");
physics::JointPtr getJoint(XMLElement *node);
physics::LinkPtr getLink(XMLElement *node);
sensors::SensorPtr getSensor(XMLElement *node);

32
simulation/frc_gazebo_plugin/src/components/Piston.cpp Normal file
View File

@@ -0,0 +1,32 @@
#include "components/Piston.h"
Piston::Piston(std::string topic, physics::JointPtr joint,
double forward_force, double reverse_force) {
std::cout << "Initializing piston: " << topic << " -- " << forward_force
<< "/" << reverse_force << "N" << std::endl;
this->topic = topic;
this->forward_force = forward_force;
this->reverse_force = reverse_force;
this->joint = joint;
signal = -1;
}
Piston::~Piston() {
}
void Piston::connect(transport::NodePtr node) {
sub = node->Subscribe(topic, &Piston::callback, this);
}
void Piston::callback(const msgs::ConstFloat64Ptr &msg) {
signal = msg->data();
if (signal < -0.001) { signal = -reverse_force; }
else if (signal > 0.001) { signal = forward_force; }
else { signal = 0; }
}
void Piston::update(bool enabled) {
joint->SetForce(0, signal);
}

36
simulation/frc_gazebo_plugin/src/components/Piston.h Normal file
View File

@@ -0,0 +1,36 @@
#include "components/RobotComponent.h"
#include <gazebo/physics/Joint.hh>
#ifndef _COMPONENTS_PISTON_H_
#define _COMPONENTS_PISTON_H_
// PSI in Newtons/m^2
#define PSI(x) (x*6895)
/**
* Piston models a pneumatic piston. In the URDF/SDF, the joint should
* be modeled as a prismatic joint with the limits corresponding to
* extended and retracted positions. Pistons have three states:
* forward, reverse and off. Currently, the forward and reverse forces
* are specified in Newtons and are constant. Changes in pressure are
* not modeled.
*/
class Piston : public RobotComponent {
public:
Piston(std::string topic, physics::JointPtr joint, double forward_force, double reverse_force);
virtual ~Piston();
void connect(transport::NodePtr node);
void update(bool enabled);
private:
std::string topic;
double forward_force, reverse_force, signal;
transport::SubscriberPtr sub;
physics::JointPtr joint;
void callback(const msgs::ConstFloat64Ptr &msg);
};
#endif /* _COMPONENTS_PISTON_H_ */

184
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java Normal file
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@@ -0,0 +1,184 @@
/*----------------------------------------------------------------------------*/
/* 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.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.simulation.SimEncoder;
import edu.wpi.first.wpilibj.simulation.SimSpeedController;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
import edu.wpi.first.wpilibj.util.AllocationException;
import edu.wpi.first.wpilibj.util.CheckedAllocationException;
/**
* DoubleSolenoid class for running 2 channels of high voltage Digital Output
* (9472 module).
*
* The DoubleSolenoid class is typically used for pneumatics solenoids that
* have two positions controlled by two separate channels.
*/
public class DoubleSolenoid implements LiveWindowSendable {
/**
* Possible values for a DoubleSolenoid
*/
public static class Value {
public final int value;
public static final int kOff_val = 0;
public static final int kForward_val = 1;
public static final int kReverse_val = 2;
public static final Value kOff = new Value(kOff_val);
public static final Value kForward = new Value(kForward_val);
public static final Value kReverse = new Value(kReverse_val);
private Value(int value) {
this.value = value;
}
}
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 SimSpeedController m_impl;
private Value m_value;
/**
* Common function to implement constructor behavior.
*/
private synchronized void initSolenoid(int moduleNumber, int forwardChannel, int reverseChannel) {
m_forwardChannel = forwardChannel;
m_reverseChannel = reverseChannel;
m_moduleNumber = moduleNumber;
// LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
if (reverseChannel < forwardChannel) { // Swap ports
int channel = forwardChannel;
forwardChannel = reverseChannel;
reverseChannel = channel;
}
m_impl = new SimSpeedController("simulator/pneumatic/"+moduleNumber+"/"+forwardChannel+"/"+moduleNumber+"/"+reverseChannel);
}
/**
* Constructor.
*
* @param forwardChannel The forward channel on the module to control.
* @param reverseChannel The reverse channel on the module to control.
*/
public DoubleSolenoid(final int forwardChannel, final int reverseChannel) {
initSolenoid(1, forwardChannel, reverseChannel);
}
/**
* Constructor.
*
* @param moduleNumber The module number of the solenoid module to use.
* @param forwardChannel The forward channel on the module to control.
* @param reverseChannel The reverse channel on the module to control.
*/
public DoubleSolenoid(final int moduleNumber, final int forwardChannel, final int reverseChannel) {
initSolenoid(moduleNumber, forwardChannel, reverseChannel);
}
/**
* Destructor.
*/
public synchronized void free() {}
/**
* Set the value of a solenoid.
*
* @param value Move the solenoid to forward, reverse, or don't move it.
*/
public void set(final Value value) {
m_value = value;
switch (value.value) {
case Value.kOff_val:
m_impl.set(0);
break;
case Value.kForward_val:
m_impl.set(1);
break;
case Value.kReverse_val:
m_impl.set(-1);
break;
}
}
/**
* Read the current value of the solenoid.
*
* @return The current value of the solenoid.
*/
public Value get() {
return m_value;
}
/*
* Live Window code, only does anything if live window is activated.
*/
public String getSmartDashboardType() {
return "Double Solenoid";
}
private ITable m_table;
private ITableListener m_table_listener;
/**
* {@inheritDoc}
*/
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
/**
* {@inheritDoc}
*/
public ITable getTable() {
return m_table;
}
/**
* {@inheritDoc}
*/
public void updateTable() {
if (m_table != null) {
//TODO: this is bad
m_table.putString("Value", (get() == Value.kForward ? "Forward" : (get() == Value.kReverse ? "Reverse" : "Off")));
}
}
/**
* {@inheritDoc}
*/
public void startLiveWindowMode() {
set(Value.kOff); // Stop for safety
m_table_listener = new ITableListener() {
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
//TODO: this is bad also
if (value.toString().equals("Reverse"))
set(Value.kReverse);
else if (value.toString().equals("Forward"))
set(Value.kForward);
else
set(Value.kOff);
}
};
m_table.addTableListener("Value", m_table_listener, true);
}
/**
* {@inheritDoc}
*/
public void stopLiveWindowMode() {
set(Value.kOff); // Stop for safety
// TODO: Broken, should only remove the listener from "Value" only.
m_table.removeTableListener(m_table_listener);
}
}

141
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Solenoid.java Normal file
View File

@@ -0,0 +1,141 @@
/*----------------------------------------------------------------------------*/
/* 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.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.simulation.SimSpeedController;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
/**
* Solenoid class for running high voltage Digital Output (9472 module).
*
* The Solenoid class is typically used for pneumatics solenoids, but could be used
* for any device within the current spec of the 9472 module.
*/
public class Solenoid implements LiveWindowSendable {
private int m_moduleNumber, m_channel; ///< The channel on the module to control.
private boolean m_value;
private SimSpeedController m_impl;
/**
* Common function to implement constructor behavior.
*/
private synchronized void initSolenoid(int slot, int channel) {
m_moduleNumber = slot;
m_channel = channel;
m_impl = new SimSpeedController("simulator/pneumatic/"+slot+"/"+channel);
LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
}
/**
* Constructor.
*
* @param channel The channel on the module to control.
*/
public Solenoid(final int channel) {
initSolenoid(1, channel);
}
/**
* Constructor.
*
* @param moduleNumber The module number of the solenoid module to use.
* @param channel The channel on the module to control.
*/
public Solenoid(final int moduleNumber, final int channel) {
initSolenoid(moduleNumber, channel);
}
/**
* Destructor.
*/
public synchronized void free() {}
/**
* Set the value of a solenoid.
*
* @param on Turn the solenoid output off or on.
*/
public void set(boolean on) {
m_value = on;
if (on) {
m_impl.set(1);
} else {
m_impl.set(-1);
}
}
/**
* Read the current value of the solenoid.
*
* @return The current value of the solenoid.
*/
public boolean get() {
return m_value;
}
/*
* Live Window code, only does anything if live window is activated.
*/
public String getSmartDashboardType() {
return "Solenoid";
}
private ITable m_table;
private ITableListener m_table_listener;
/**
* {@inheritDoc}
*/
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
/**
* {@inheritDoc}
*/
public ITable getTable() {
return m_table;
}
/**
* {@inheritDoc}
*/
public void updateTable() {
if (m_table != null) {
m_table.putBoolean("Value", get());
}
}
/**
* {@inheritDoc}
*/
public void startLiveWindowMode() {
set(false); // Stop for safety
m_table_listener = new ITableListener() {
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
set(((Boolean) value).booleanValue());
}
};
m_table.addTableListener("Value", m_table_listener, true);
}
/**
* {@inheritDoc}
*/
public void stopLiveWindowMode() {
set(false); // Stop for safety
// TODO: Broken, should only remove the listener from "Value" only.
m_table.removeTableListener(m_table_listener);
}
}