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Merge "Fixed wpilibJavaSim build"

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This commit is contained in:
Brad Miller (WPI)
2015-08-14 07:46:03 -07:00
committed by Gerrit Code Review
parent 8056aaa0aa 099056789e
commit 4e46692191
5 changed files with 42 additions and 49 deletions
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6
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java
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@@ -31,7 +31,7 @@ public class AnalogInput extends SensorBase implements PIDSource,
private SimFloatInput m_impl;
private int m_channel;
protected PIDSourceParameter m_pidSource = PIDSourceParameter.kDistance;
protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
/**
* Construct an analog channel.
@@ -91,14 +91,14 @@ public class AnalogInput extends SensorBase implements PIDSource,
/**
* {@inheritDoc}
*/
public void setPIDSourceParameter(PIDSourceParameter pidSource) {
public void setPIDSourceType(PIDSourceType pidSource) {
m_pidSource = pidSource;
}
/**
* {@inheritDoc}
*/
public PIDSourceParameter getPIDSourceParameter() {
public PIDSourceType getPIDSourceType() {
return m_pidSource;
}

6
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
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@@ -21,7 +21,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
private double m_scale, m_offset;
private AnalogInput m_analog_input;
private boolean m_init_analog_input;
protected PIDSourceParameter m_pidSource = PIDSourceParameter.kDistance;
protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
/**
* Common initialization code called by all constructors.
@@ -138,14 +138,14 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
/**
* {@inheritDoc}
*/
public void setPIDSourceParameter(PIDSourceParameter pidSource) {
public void setPIDSourceType(PIDSourceType pidSource) {
m_pidSource = pidSource;
}
/**
* {@inheritDoc}
*/
public PIDSourceParameter getPIDSourceParameter() {
public PIDSourceType getPIDSourceType() {
return m_pidSource;
}

43
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/CounterBase.java
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@@ -20,31 +20,28 @@ public interface CounterBase {
/**
* The number of edges for the counterbase to increment or decrement on
*/
public static class EncodingType {
public enum EncodingType {
/**
* Count only the rising edge
*/
k1X(0),
/**
* Count both the rising and falling edge
*/
k2X(1),
/**
* Count rising and falling on both channels
*/
k4X(2);
/**
* The integer value representing this enumeration
*/
public final int value;
static final int k1X_val = 0;
static final int k2X_val = 1;
static final int k4X_val = 2;
/**
* Count only the rising edge
*/
public static final EncodingType k1X = new EncodingType(k1X_val);
/**
* Count both the rising and falling edge
*/
public static final EncodingType k2X = new EncodingType(k2X_val);
/**
* Count rising and falling on both channels
*/
public static final EncodingType k4X = new EncodingType(k4X_val);
/**
* The integer value representing this enumeration
*/
public final int value;
private EncodingType(int value) {
this.value = value;
}
private EncodingType(int value) {
this.value = value;
}
}
/**

20
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java
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@@ -10,7 +10,6 @@ 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.tables.ITable;
import edu.wpi.first.wpilibj.util.BoundaryException;
/**
* Class to read quad encoders. Quadrature encoders are devices that count shaft
@@ -34,7 +33,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
private boolean m_allocatedB;
private boolean m_allocatedI;
private boolean m_reverseDirection;
private PIDSourceParameter m_pidSource;
private PIDSourceType m_pidSource;
private SimEncoder impl;
/**
@@ -56,7 +55,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
*/
private void initEncoder(int aChannel, int bChannel, boolean reverseDirection) {
m_distancePerPulse = 1.0;
m_pidSource = PIDSourceParameter.kDistance;
m_pidSource = PIDSourceType.kDisplacement;
m_encodingScale = m_encodingType == EncodingType.k4X ? 4
: m_encodingType == EncodingType.k2X ? 2
: 1;
@@ -275,15 +274,14 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @param pidSource
* An enum to select the parameter.
*/
public void setPIDSourceParameter(PIDSourceParameter pidSource) {
BoundaryException.assertWithinBounds(pidSource.value, 0, 1);
public void setPIDSourceType(PIDSourceType pidSource) {
m_pidSource = pidSource;
}
/**
* {@inheritDoc}
*/
public PIDSourceParameter getPIDSourceParameter() {
public PIDSourceType getPIDSourceType() {
return m_pidSource;
}
@@ -293,10 +291,10 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* @return The current value of the selected source parameter.
*/
public double pidGet() {
switch (m_pidSource.value) {
case PIDSourceParameter.kDistance_val:
switch (m_pidSource) {
case kDisplacement:
return getDistance();
case PIDSourceParameter.kRate_val:
case kRate:
return getRate();
default:
return 0.0;
@@ -307,8 +305,8 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
* Live Window code, only does anything if live window is activated.
*/
public String getSmartDashboardType() {
switch (m_encodingType.value) {
case EncodingType.k4X_val:
switch (m_encodingType) {
case k4X:
return "Quadrature Encoder";
default:
return "Encoder";

16
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Gyro.java
View File

@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.simulation.SimGyro;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.util.BoundaryException;
/**
* Use a rate gyro to return the robots heading relative to a starting position.
@@ -23,7 +22,7 @@ import edu.wpi.first.wpilibj.util.BoundaryException;
*/
public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
private PIDSourceParameter m_pidSource;
private PIDSourceType m_pidSource;
private SimGyro impl;
/**
@@ -38,7 +37,7 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
impl = new SimGyro("simulator/analog/"+channel);
reset();
setPIDSourceParameter(PIDSourceParameter.kAngle);
setPIDSourceType(PIDSourceType.kDisplacement);
LiveWindow.addSensor("Gyro", channel, this);
}
@@ -113,15 +112,14 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
* @param pidSource
* An enum to select the parameter.
*/
public void setPIDSourceParameter(PIDSourceParameter pidSource) {
BoundaryException.assertWithinBounds(pidSource.value, 1, 2);
public void setPIDSourceType(PIDSourceType pidSource) {
m_pidSource = pidSource;
}
/**
* {@inheritDoc}
*/
public PIDSourceParameter getPIDSourceParameter() {
public PIDSourceType getPIDSourceType() {
return m_pidSource;
}
@@ -131,10 +129,10 @@ public class Gyro extends SensorBase implements PIDSource, LiveWindowSendable {
* @return the current angle according to the gyro
*/
public double pidGet() {
switch (m_pidSource.value) {
case PIDSourceParameter.kRate_val:
switch (m_pidSource) {
case kRate:
return getRate();
case PIDSourceParameter.kAngle_val:
case kDisplacement:
return getAngle();
default:
return 0.0;