mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
Added support for PacGoat robot for artf2591.
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
@@ -0,0 +1,184 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
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import edu.wpi.first.wpilibj.simulation.SimEncoder;
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import edu.wpi.first.wpilibj.simulation.SimSpeedController;
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import edu.wpi.first.wpilibj.tables.ITable;
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import edu.wpi.first.wpilibj.tables.ITableListener;
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import edu.wpi.first.wpilibj.util.AllocationException;
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import edu.wpi.first.wpilibj.util.CheckedAllocationException;
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/**
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* DoubleSolenoid class for running 2 channels of high voltage Digital Output
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* (9472 module).
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*
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* The DoubleSolenoid class is typically used for pneumatics solenoids that
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* have two positions controlled by two separate channels.
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*/
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public class DoubleSolenoid implements LiveWindowSendable {
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/**
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* Possible values for a DoubleSolenoid
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*/
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public static class Value {
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public final int value;
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public static final int kOff_val = 0;
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public static final int kForward_val = 1;
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public static final int kReverse_val = 2;
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public static final Value kOff = new Value(kOff_val);
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public static final Value kForward = new Value(kForward_val);
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public static final Value kReverse = new Value(kReverse_val);
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private Value(int value) {
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this.value = value;
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}
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}
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private int m_forwardChannel; ///< The forward channel on the module to control.
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private int m_reverseChannel; ///< The reverse channel on the module to control.
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private int m_moduleNumber;
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private SimSpeedController m_impl;
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private Value m_value;
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/**
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* Common function to implement constructor behavior.
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*/
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private synchronized void initSolenoid(int moduleNumber, int forwardChannel, int reverseChannel) {
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m_forwardChannel = forwardChannel;
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m_reverseChannel = reverseChannel;
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m_moduleNumber = moduleNumber;
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// LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
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if (reverseChannel < forwardChannel) { // Swap ports
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int channel = forwardChannel;
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forwardChannel = reverseChannel;
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reverseChannel = channel;
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}
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m_impl = new SimSpeedController("simulator/pneumatic/"+moduleNumber+"/"+forwardChannel+"/"+moduleNumber+"/"+reverseChannel);
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}
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/**
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* Constructor.
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*
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* @param forwardChannel The forward channel on the module to control.
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* @param reverseChannel The reverse channel on the module to control.
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*/
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public DoubleSolenoid(final int forwardChannel, final int reverseChannel) {
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initSolenoid(1, forwardChannel, reverseChannel);
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}
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/**
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* Constructor.
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*
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* @param moduleNumber The module number of the solenoid module to use.
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* @param forwardChannel The forward channel on the module to control.
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* @param reverseChannel The reverse channel on the module to control.
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*/
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public DoubleSolenoid(final int moduleNumber, final int forwardChannel, final int reverseChannel) {
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initSolenoid(moduleNumber, forwardChannel, reverseChannel);
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}
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/**
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* Destructor.
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*/
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public synchronized void free() {}
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/**
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* Set the value of a solenoid.
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*
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* @param value Move the solenoid to forward, reverse, or don't move it.
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*/
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public void set(final Value value) {
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m_value = value;
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switch (value.value) {
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case Value.kOff_val:
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m_impl.set(0);
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break;
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case Value.kForward_val:
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m_impl.set(1);
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break;
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case Value.kReverse_val:
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m_impl.set(-1);
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break;
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}
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}
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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public Value get() {
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return m_value;
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}
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/*
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* Live Window code, only does anything if live window is activated.
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*/
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public String getSmartDashboardType() {
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return "Double Solenoid";
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}
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private ITable m_table;
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private ITableListener m_table_listener;
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/**
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* {@inheritDoc}
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*/
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public void initTable(ITable subtable) {
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m_table = subtable;
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updateTable();
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}
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/**
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* {@inheritDoc}
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*/
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public ITable getTable() {
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return m_table;
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}
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/**
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* {@inheritDoc}
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*/
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public void updateTable() {
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if (m_table != null) {
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//TODO: this is bad
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m_table.putString("Value", (get() == Value.kForward ? "Forward" : (get() == Value.kReverse ? "Reverse" : "Off")));
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}
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}
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/**
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* {@inheritDoc}
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*/
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public void startLiveWindowMode() {
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set(Value.kOff); // Stop for safety
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m_table_listener = new ITableListener() {
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public void valueChanged(ITable itable, String key, Object value, boolean bln) {
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//TODO: this is bad also
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if (value.toString().equals("Reverse"))
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set(Value.kReverse);
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else if (value.toString().equals("Forward"))
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set(Value.kForward);
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else
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set(Value.kOff);
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}
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};
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m_table.addTableListener("Value", m_table_listener, true);
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}
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/**
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* {@inheritDoc}
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*/
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public void stopLiveWindowMode() {
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set(Value.kOff); // Stop for safety
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// TODO: Broken, should only remove the listener from "Value" only.
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m_table.removeTableListener(m_table_listener);
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}
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}
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@@ -0,0 +1,141 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
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import edu.wpi.first.wpilibj.simulation.SimSpeedController;
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import edu.wpi.first.wpilibj.tables.ITable;
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import edu.wpi.first.wpilibj.tables.ITableListener;
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/**
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* Solenoid class for running high voltage Digital Output (9472 module).
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*
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* The Solenoid class is typically used for pneumatics solenoids, but could be used
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* for any device within the current spec of the 9472 module.
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*/
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public class Solenoid implements LiveWindowSendable {
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private int m_moduleNumber, m_channel; ///< The channel on the module to control.
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private boolean m_value;
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private SimSpeedController m_impl;
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/**
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* Common function to implement constructor behavior.
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*/
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private synchronized void initSolenoid(int slot, int channel) {
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m_moduleNumber = slot;
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m_channel = channel;
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m_impl = new SimSpeedController("simulator/pneumatic/"+slot+"/"+channel);
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LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
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}
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/**
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* Constructor.
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*
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* @param channel The channel on the module to control.
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*/
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public Solenoid(final int channel) {
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initSolenoid(1, channel);
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}
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/**
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* Constructor.
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*
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* @param moduleNumber The module number of the solenoid module to use.
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* @param channel The channel on the module to control.
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*/
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public Solenoid(final int moduleNumber, final int channel) {
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initSolenoid(moduleNumber, channel);
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}
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/**
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* Destructor.
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*/
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public synchronized void free() {}
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/**
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* Set the value of a solenoid.
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*
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* @param on Turn the solenoid output off or on.
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*/
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public void set(boolean on) {
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m_value = on;
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if (on) {
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m_impl.set(1);
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} else {
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m_impl.set(-1);
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}
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}
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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public boolean get() {
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return m_value;
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}
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/*
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* Live Window code, only does anything if live window is activated.
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*/
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public String getSmartDashboardType() {
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return "Solenoid";
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}
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private ITable m_table;
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private ITableListener m_table_listener;
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/**
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* {@inheritDoc}
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*/
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public void initTable(ITable subtable) {
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m_table = subtable;
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updateTable();
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}
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/**
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* {@inheritDoc}
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*/
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public ITable getTable() {
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return m_table;
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}
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/**
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* {@inheritDoc}
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*/
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public void updateTable() {
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if (m_table != null) {
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m_table.putBoolean("Value", get());
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}
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}
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/**
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* {@inheritDoc}
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*/
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public void startLiveWindowMode() {
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set(false); // Stop for safety
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m_table_listener = new ITableListener() {
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public void valueChanged(ITable itable, String key, Object value, boolean bln) {
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set(((Boolean) value).booleanValue());
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}
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};
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m_table.addTableListener("Value", m_table_listener, true);
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}
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/**
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* {@inheritDoc}
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*/
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public void stopLiveWindowMode() {
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set(false); // Stop for safety
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// TODO: Broken, should only remove the listener from "Value" only.
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m_table.removeTableListener(m_table_listener);
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}
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}
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